SE537840C2 - Controlling an actual speed of a vehicle - Google Patents

Controlling an actual speed of a vehicle Download PDF

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Publication number
SE537840C2
SE537840C2 SE1350351A SE1350351A SE537840C2 SE 537840 C2 SE537840 C2 SE 537840C2 SE 1350351 A SE1350351 A SE 1350351A SE 1350351 A SE1350351 A SE 1350351A SE 537840 C2 SE537840 C2 SE 537840C2
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speed
limiter
control
actual
vehicle
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SE1350351A
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SE1350351A1 (sv
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Fredrik Roos
Martin Evaldsson
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Scania Cv Ab
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Publication of SE1350351A1 publication Critical patent/SE1350351A1/sv
Publication of SE537840C2 publication Critical patent/SE537840C2/sv

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • B60W30/146Speed limiting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00Vehicle 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162Speed limiting therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/182Selecting between different operative modes, e.g. comfort and performance modes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00Vehicle 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
    • B60K2031/0091Speed limiters or speed cutters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/15Road slope
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/30Road curve radius
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60Traffic rules, e.g. speed limits or right of way
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/50External transmission of data to or from the vehicle for navigation systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18072Coasting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/082Selecting or switching between different modes of propelling

Abstract

537 8 Sammandrag Fireliggande uppfinning tillhandahdller ett system fir reglering av en faktisk hastighet vaa fir ett fordon, ddr systemet dr anordnat att kunna utfira regleringen baserat pi en manuell styrning av den faktiska hastigheten vaa eller baserat pi en automatisk styrning av den faktiska hastigheten Vact • Enligt fireliggande uppfinning dr en automatstyrningsenhet anordnad att tillata att den automatiska styrningen aktivt kan styra den faktiska hastigheten vaa till ett higre vdrde in en manuellstyrningsenhet dr anordnad att tillata den manuella styrningen att aktivt styra den faktiska hastigheten vaa till. The present invention provides a system for controlling an actual speed of a vehicle, wherein the system is arranged to be able to perform the control based on a manual control of the actual speed or based on an automatic control of the actual speed. The present invention provides an automatic control unit arranged to allow the automatic control to actively control the actual speed at a higher value. A manual control unit is provided to allow the manual control to actively control the actual speed.

Description

537 8 REGLERING AV EN FAKTISK HASTIGHET FOR ETT FORDON Tekniskt omnide Foreliggande uppfinning avser ett forfarande for reglering av en faktisk hastighet v„t for ett fordon enligt ingressen till patentkrav 1 och ett system for reglering av en faktisk hastighet vact for ett fordon enligt ingressen till patentkrav 18. Technical invention The present invention relates to a method for controlling an actual speed v for a vehicle according to the preamble of claim 1 and a system for controlling an actual speed vact for a vehicle according to the preamble of claim 1. claim 18.

Foreliggande uppfinning avser ocksa ett datorprogram och en datorprogramprodukt, vilka implementerar forfarandet enligt uppfinningen. The present invention also relates to a computer program and a computer program product, which implement the method according to the invention.

Bakgrund Foljande bakgrundsbeskrivning utgor en beskrivning av bakgrunden till fOreliggande uppfinning, vilken dock inte maste utgora tidigare kand teknik. Background The following background description constitutes a description of the background to the present invention, which, however, must not constitute prior art.

For motorfordon, sasom till exempel bilar, lastbilar och bussar, utgor en kostnad for bransle en betydande utgift for fordonets agare eller brukare. For till exempel ett akeriforetag utgors, forutom fordonets anskaffningskostnad, de huvudsakliga utgiftsposterna for lOpande drift av ett fordon av lon till fordonets forare, kostnader for reparationer och underhall samt bransle for framdrivning av fordonet. Branslekostnaden kan har paverka lonsamheten for akerifOretaget i mycket star utstrackning. DarfOr har en mangd olika system utvecklats for att minska branslefOrbrukningen, sasom exempelvis bransleeffektiva motorer och bransleekonomiska farthallare. For motor vehicles, such as cars, trucks and buses, a cost to the industry constitutes a significant expense for the vehicle's agar or users. For example, for a haulage company, in addition to the vehicle's acquisition cost, the main expenditure items for the ongoing operation of a vehicle are paid to the vehicle's driver, costs for repairs and maintenance and industry for propulsion of the vehicle. The cost of fuel may have affected the profitability of the akerifOretaget to a very large extent. For this reason, a number of different systems have been developed to reduce industry consumption, such as industry-efficient engines and industry-economical cruise control.

Ett mal med farthallare är att astadkomma en jamn fOrutbestamd hastighet. Detta 9-Ors antingen genom att anpassa motormomentet for att undvika retardation, alternativt applicering av bromsverkan i de nedfOrsbackar (Jar fordonet accelererar av sin 1 537 8 egen tyngd. Ett overgripande mai for farthallaren är att astadkomma en bekvam korning och okad komfort for foraren av motorfordonet. A goal with cruise control is to achieve a steady predetermined speed. This 9-Ors either by adjusting the engine torque to avoid deceleration, or alternatively applying the braking action in the downhill slopes (Jar the vehicle accelerates by its 1,537 8 own weight. An overall mai for the cruise control is to achieve a comfortable cornering and increased comfort for the driver of the motor vehicle.

En forare av ett motorfordon med farthallare valjer vanligtvis en set-hastighet vset. Set-hastigheten vset är den hastighet som foraren viii att motorfordonet ska hula pi plan vag. En farthallare tillhandahaller sedan ett motorsystem i fordonet en referenshastighet v„f, dar referenshastigheten v„f anvands far styrning av motorn. Set-hastigheten vset kan alltsa ses som en insignal till farthallaren, medan referenshastigheten v„f kan ses som en utsignal fran farthallaren, vilken anvands for styrning av motorn, vilken ger en reglering av fordonets faktiska hastighet vaa. A driver of a motor vehicle with a cruise control usually chooses a set speed vset. The set speed vset is the speed at which the driver wants the motor vehicle to bump on a flat surface. A cruise control then provides an engine system in the vehicle with a reference speed, where the reference speed is used to control the engine. The set speed vset can thus be seen as an input signal to the cruise control, while the reference speed v „f can be seen as an output signal from the cruise control, which is used for controlling the engine, which gives a control of the actual speed vaa of the vehicle vaa.

Traditionella farthallare (Cruise Control; CC) hiller en konstant referenshastighet v„f, vilken motsvarar den av foraren installda set-hastigheten vset. Vardet pd referenshastigheten Vref andras har endast di anvandaren sjalv justerar sethastigheten vset under kOrningen. Traditional Cruise Control (Cruise Control; CC) maintains a constant reference speed v „f, which corresponds to the set speed vset set by the driver. The value of the reference speed Vref others has only in the user himself adjusts the set speed vset during driving.

Idag finns aven farthallare, sa kallade ekonomiska farthallare, sasom till exempel Ecocruise-farthallare och liknande farthallare, vilka forsoker uppskatta nuvarande kermotstand och dven har kunskap am det historiska kormotstandet. En erfaren forare som framfor ett motorfordon utan farthallare kan minska brdnsleforbrukningen genom att anpassa sin korning efter den framforliggande vagens egenskaper, sa att onediga inbromsningar och/eller bransleforbrukande accelerationer kan undvikas. I en vidareutveckling av dessa ekonomiska farthallare fersOker man efterlikna den erfarne forarens anpassning av motorfordonets framfOrande baserat pa kunskap am den framforliggande vdgen, sa att bransleforbrukningen kan hallas pa en sa lag niva som 2 537 8 majligt, eftersom denna paverkar lansamheten for en agare av motorfordonet, sasom ett akerifOretag eller liknande, i mycket star ntstrackning. Today, there are also speedometers, so-called economic speedometers, such as Ecocruise speedometers and similar speedometers, who try to estimate current core resistance and also have knowledge of the historical choir resistance. An experienced driver who, in front of a motor vehicle without a cruise control, can reduce fuel consumption by adapting his grain to the characteristics of the vehicle in front, so that unnecessary braking and / or fuel consumption accelerations can be avoided. In a further development of these economical speedometers, an attempt is made to imitate the experienced driver's adaptation of the motor vehicle's performance based on knowledge of the road ahead, so that fuel consumption can be kept at as low a level as 2,537 8 months, as this affects the profitability of an agar of the motor vehicle. , such as an akerifOretag or similar, in very star ntstrackning.

Ett exempel pa en sadan vidareutveckling av en ekonomisk farthallare Or en "Look Ahead"-farthallare (LACC), det viii saga en strategisk farthallare som anvander sig av kunskap am framforliggande vagavsnitt, det viii saga kunskap am hur vagen ser ut framover, for att bestamma utseendet pa referenshastigheten v„f. Här tillats alltsa referenshastigheten v„f att, mom ett hastighetsintervall vrnin - vm„„,, skilja sig fran den av foraren valda set-hastigheten vset for att astadkomma en mer branslesparande korning. An example of such a further development of an economic cruise control or a "Look Ahead" cruise control (LACC), the viii saga a strategic pacemaker that uses knowledge in the preceding section of the road, the viii saga knowledge of what the road looks like in the future, to determine the appearance of the reference speed v „f. Here, therefore, the reference speed is allowed to differ from the set speed chosen by the driver in order to achieve a more industry-saving grain.

Kunskapen am det framforliggande vagavsnittet kan till exempel besta av kunskap am radande topografi, kurvatur, trafiksituation, vagarbete, trafikintensitet och vaglag. The knowledge of the prevailing road section may, for example, consist of knowledge of radiating topography, curvature, traffic situation, road work, traffic intensity and road conditions.

Vidare kan kunskapen besta av en hastighetsbegransning for det kommande vagavsnittet, och/eller av en trafikskylt i anslutning till vagen. Dessa kunskaper kan till exempel erhallas medelst positioneringsinformation, sasom GPS- information (Global Positioning System-information), kartinformation och/eller topografikartinformation, vaderleksrapporter, information kommunicerad mellan olika fordon samt information kommunicerad via radio. Kunskaperna kan anvandas pa en mangd satt. Till exempel kan kunskap am en kommande hastighetsbegransning for vagen utnyttjas for att astadkomma bransleeffektiva sankningar av hastigheten infor en kommande lagre hastighetsbegransning. pa motsvarande satt kan kunskap am en vagskylt med information am till exempel en kommande rondell eller korsning ocksa utnyttjas fOr att pa ett bransleeffektivt satt bromsa in infor rondellen eller korsningen. Att basera farthallning pa positioneringsinformation i kombination med topografisk 3 537 8 kartinformation gar att felaktiga beslut, vilka beror pi att en forare uppfattar en vaglutning felaktigt, kan undvikas. Furthermore, the knowledge may consist of a speed limit for the upcoming road section, and / or of a traffic sign adjacent to the road. This knowledge can be obtained, for example, by means of positioning information, such as GPS information (Global Positioning System information), map information and / or topography map information, weather reports, information communicated between different vehicles and information communicated via radio. The knowledge can be applied in a variety of ways. For example, knowledge of an upcoming speed limit for the road can be used to achieve industry-efficient speed reductions before an upcoming lower speed limit. Correspondingly, knowledge of a road sign with information at, for example, an upcoming roundabout or intersection can also be used to slow down in front of the roundabout or intersection in an industry-efficient way. Basing speed on positioning information in combination with topographic map information means that erroneous decisions, which are due to a driver perceiving a gradient slope incorrectly, can be avoided.

En LACC-farthallare tillater till exempel att referenshastigheten v„f hojs infor en brant uppforsbacke till en niva vilken ligger over nivan far set-hastigheten vset, eftersom motorfordonet beraknas komma att tappa i hastighet den branta uppforsbacken pa grund av hag tagvikt i fOrhallande till fordonets motorprestanda. Harigenom sparas tid, vilket gar att LACC-farthallaren kan ses som en korbarhetsforbattrande farthallare. pa motsvarande satt tillater LACC-farthallaren att referenshastigheten v„f sanks till en niva vilken ligger under set-hastigheten vset infor en brant nedforsbacke, eftersom motorfordonet beraknas komma att accelerera i den branta nedforsbacken pa grund av den hoga tagvikten. Tanken är har att det är mer bransleekonomiskt ta hjalp av motorfordonets acceleration pa grund av dess egen tyngd i nedforsbacken an att forst accelerera infar nedfarsbacken och sedan bromsa nedfor backen. LACCfarthallaren kan pa detta satt minska bransleforbrukningen med i stort sett bibehallen kertid. For example, a LACC cruise control allows the reference speed to be raised above a steep uphill slope to a level which is above the level before the set speed is set, since the motor vehicle is expected to lose speed on the steep uphill slope due to the weight of the vehicle. engine performance. This saves time, which means that the LACC cruise control can be seen as a portability-improving cruise control. Correspondingly, the LACC cruise control allows the reference speed to be lowered to a level below the set speed above a steep downhill slope, as the motor vehicle is expected to accelerate on the steep downhill slope due to the high roof weight. The idea is that it is more economically economical to take advantage of the motor vehicle's acceleration due to its own weight on the downhill slope than to first accelerate in front of the downhill slope and then brake downhill. In this way, the LACC cruise control can reduce fuel consumption while largely maintaining running time.

Det finns Oven farthallare vilka baserat pa ett nuvarande kormotstand beslutar hur motorfordonets hastighet ska variera. I dessa farthallare kan referenshastigheten v„f tillatas att avvika fran set-hastigheten vset, mom ett hastighetsintervall vniin -Vmx, baserat pa atminstone en egenskap for kormotstandet, sasom till exempel dess storlek och/eller utseende Over tiden. There are also speedometers which, based on a current choir resistance, decide how the speed of the motor vehicle should vary. In these cruise control, the reference speed v „f may be allowed to deviate from the set speed vset, by a speed range vniin -Vmx, based on at least one characteristic of the chore resistance, such as its size and / or appearance Over time.

Det finns Oven farthallare vilka utnyttjar radar och/eller kameror for att erhalla information om framforliggande fordon. There are also speedometers which use radar and / or cameras to obtain information about vehicles in front.

Baserat pa denna information kan farthallaren styra fordonets faktiska hastighet vaa, mom ett hastighetsintervall vrnin. - 4 537 8 Vmax sa att till exempel ett vasentligen konstant avstdnd halls till framforvarande fordon. Vid till exempel nedfOrsbackar eller vid situationer da fordonet ska minska sin faktiska hastighet har historiskt brdnslebesparingar aven gjorts genom en minskad begdran av positivt motormoment alternativt med hjalp av sldpning. Den minskade begaran av positivt motormoment innebar att den i fdrdriktningen pddrivande kraft forbranningsmotorn avger via drivhjulen minskas, till exempel genom minskad bransleinsprutning i motorn, vilket minskar bransleforbrukningen. Based on this information, the cruise control can control the actual speed of the vehicle, including a speed range. - 4 537 8 Vmax said that, for example, a substantially constant distance is maintained to the vehicle in front. In, for example, downhill slopes or in situations where the vehicle must reduce its actual speed, historical fuel savings have also been made through a reduced request for positive engine torque or with the help of sledding. The reduced demand for positive engine torque meant that the driving force emitted by the internal combustion engine via the drive wheels is reduced, for example by reduced fuel injection in the engine, which reduces fuel consumption.

Sldpning innebdr att framfora fordonet med sluten drivlina, det vill saga med forbranningsmotorn fOrbunden med fordonets drivhjul, samtidigt som bransletillforseln till fOrbranningsmotorn stangs ay. En fOrdel med denna typ av atgdrd är att eftersom bransletillforsel till fOrbranningsmotorn är avstangd är ocksa fOrbranningsmotorns forbrukning lika med noll. tgarden innebar dock aven att fOrbranningsmotorn kommer att drivas av fordonets drivhjul via drivlinan, sa kallad "sldpning" astadkoms alltsd, varvid fOrbranningsmotorns trOghet ger upphov till en bromsande verkan, det vill saga att fordonet motorbromsas. Sloping means driving the vehicle with a closed driveline, that is to say with the internal combustion engine connected to the vehicle's drive wheel, at the same time as the fuel supply to the internal combustion engine is shut off. An advantage of this type of action is that since the fuel supply to the internal combustion engine is switched off, the consumption of the internal combustion engine is also equal to zero. However, tgarden also meant that the internal combustion engine will be driven by the vehicle's drive wheel via the driveline, so-called "sldpning" is thus achieved, whereby the combustion engine's inertia gives rise to a braking effect, ie the vehicle is engine braked.

Minskning av begart motormoment och sldpning sdnker visserligen bransleforbrukningen, men denna sankning är inte alltid optimerad, dels eftersom det minskade motormomentet trots allt oftast forbrukar mer bransle an n6dvandigt och dels eftersom sldpningen dessutom tillfor en icke-bransleekonomisk motorbromsning av fordonet. Reducing the required engine torque and torque does reduce fuel consumption, but this reduction is not always optimized, partly because the reduced engine torque nevertheless usually consumes more fuel than necessary and partly because the torque also leads to a non-fuel-efficient engine braking of the vehicle.

Vid framferande av fordonet har vaxelvalet en star inverkan pa bransleforbrukningen, eftersom motorvarvtalet är direkt beroende av detta vdxelval. Alltsa är branslefOrbrukningen for en viss faktisk hastighet 12„t generellt ldgre for en hogre vaxel jamfOrt med en lagre vaxel. En uppvaxling gor att 537 8 krafterna som verkar mot fordonets rorelse minskar eftersom kraften for motorfriktionen Feng minskar med minskande motorvarvtal. Alltsd kan en uppvaxling sanka brOnsleforbrukningen Oven genom att motstAndet mot fordonet minskas. When driving the vehicle, the gear selection has a strong impact on fuel consumption, as the engine speed is directly dependent on this gear selection. Thus, the fuel consumption for a certain actual speed is 12 „t generally lower for a higher gear compared to a lower gear. An upshift reduces the forces acting on the movement of the vehicle as the force of the Feng engine friction decreases with decreasing engine speed. Thus, an upshift can reduce fuel consumption even by reducing the resistance to the vehicle.

Det finns dOrfor farthallare vilka innefattar en funktion som forsaker Ostadkomma att en sa hog vaxel som majligt utnyttjas samtidigt som en faktisk hastighet vaa for fordonet inom ett hastighetsintervall vmin - 12m„ erhalls. There are therefore speedometers which include a function which causes such a high gear to be used at the same time as an actual speed of the vehicle within a speed range vmin - 12m „is obtained.

I detta dokument innebar en uppvaxling att ett hagre majligt axellage i vaxellOdan valjs, dar detta hogre vOxellage är fysiskt, det viii saga utgar en av vaxellAdans inrattade axlar. Detta hogre vaxellage innebar Oven att motorn arbetar vid ett lOgre motorvarvtal am den faktiska hastigheten vact bibeh011s. In this document, an upshift meant that a more favorable axial bearing in the gear shaft is selected, where this higher gear bearing is physical, the viii saga emanating one of the gear shaft aligned axles. This higher gear ratio also meant that the engine was operating at a lower engine speed at the actual speed maintained.

Ett annat satt att sanka bransleforbrukningen är att lOta fordonet frihjula, genom att sasom beskrivs nedan antingen utnyttja ett neutralt vaxellage i vaxelladan eller att Oppna kopplingen. Genom utnyttjande av frihjulning astadkoms en Onnu lagre brOnsleforbrukning an med slapning, eftersom motorbromsning elimineras samtidigt som motorvarvet sOnks till ett minimum. Frihjulning kan utforas med motor igang eller avstOngd. Another way of reducing fuel consumption is to let the vehicle freewheel, by either using a neutral gear layer in the gearbox as described below or opening the clutch. By utilizing freewheeling, an even lower fuel consumption is achieved with relaxation, since engine braking is eliminated at the same time as the engine speed is reduced to a minimum. Freewheeling can be performed with the engine running or off.

Frihjulning innebOr i detta dokument att fordonets motor frikopplas fran fordonets drivhjul, allts6 att drivlinan appnas. Denna frikoppling av drivhjulen fran motorn, Oven kallad oppning av drivlinan, kan till exempel Ostadkommas genom att forsOtta vOxelladan i ett neutrallage, eller genom att oppna kopplingen. Med andra ord overfors vasentligen ingen kraft frAn motorn till drivhjulen vid frihjulningen. I detta dokument innefattas i begreppet frihjulning Oven att en av 6 537 8 flera motorer i ett fordon, exempelvis i ett hybridfordon, frikopplas fran drivhjulen. Exempelvis innefattas alltsa i begreppet frihjulning ett korsatt i ett hybridfordon dar en forbranningsmotor frikopplas fran drivhjulen och dar en elmotor da fortfarande kan overfora kraft till drivhjulen. Freewheeling in this document means that the vehicle's engine is disengaged from the vehicle's drive wheel, ie that the driveline is opened. This disengagement of the drive wheels from the engine, also called the opening of the driveline, can be achieved, for example, by continuing the gearbox in a neutral position, or by opening the coupling. In other words, substantially no power is transmitted from the engine to the drive wheels at the freewheel. In this document, the concept of freewheeling also includes that one of 6,537 8 several engines in a vehicle, for example in a hybrid vehicle, is disengaged from the drive wheels. Thus, for example, the term freewheeling includes a crossover in a hybrid vehicle where an internal combustion engine is disengaged from the drive wheels and where an electric motor can then still transmit power to the drive wheels.

Frihjulning gor att krafterna som verkar mot fordonets rorelse minskar avsevart eftersom kraften for motorfriktionen Feng da minskar till ett varde vasentligen lika med nail (0). Darfor kan frihjulning avsevart sanka bransleforbrukningen genom denna minskning av motstandet mot fordonet. I vissa fall av frihjulning maste dock tomgangsbransle tillforas motorn sa att den inte stannar, medan motorn kan tillatas att stanna i andra fall. Freewheeling causes the forces acting on the movement of the vehicle to decrease considerably because the force of the engine friction Feng da decreases to a value substantially equal to the nail (0). Therefore, freewheeling can significantly reduce fuel consumption through this reduction in resistance to the vehicle. In some cases of freewheeling, however, idle fuel must be supplied to the engine so that it does not stop, while the engine may be allowed to stop in other cases.

Detta gor att det ur ett branslehanseende ofta är mer fordelaktigt att framfora fordonet med oppen drivlina, det vill saga under frihjulning, an med slapning, det viii saga nar drivlinan är stangd samtidigt som bransletillforseln till motorn är avstangd. Anledningen till detta är att den begransade mangd bransle som erfordras for att halla forbran- ningsmotorn igang vid frikopplad forbranningsmotor uppvags av att fordonet kan fortsatta med frikopplad forbranningsmotor en langre stracka, exempelvis efter det att en nedfOrslutning har passerats. Detta beror bland annat pa att fordonet kommer att uppna en hag-re hastighet i exempelvis nedfarslutningen vid framforande med frikopplad forbranningsmotor jamfort med att framfara fordonet med stangd drivlina utan bransletillforsel. Det finns Oven varianter av frihjulning for vilka farbranningsmotorn stangs av vid frihjulningen, varigenom ingen bransletillforsel ails behovs. 7 537 8 Dessutom kommer rid frihjulning den kraft som motverkar fordonets framforande att vara lagre nar fordonets farbrdnningsmotor är frikopplad frAn drivaxeln, eftersom det inte finns nAgon motorbromskraft som motverkar fordonets framfart. Detta gar att fordonet kommer att retardera ldngsammare exempelvis ndr fordonet ndr slutet av en nedfarslutning, vilket i sin tur innebdr att frihjulning ofta kan utnyttjas en relativt lang strdcka efter till exempel ett slut av en nedforsbacke. Hdrigenom erhalls en avsevdrd minskning av brdnsleforbrukningen. This means that from an industry point of view it is often more advantageous to drive the vehicle with an open driveline, that is to say during freewheeling, rather than with relaxation, that is to say when the driveline is closed at the same time as the fuel supply to the engine is shut off. The reason for this is that the limited amount of fuel required to keep the internal combustion engine running on a decoupled internal combustion engine is offset by the fact that the vehicle can continue with a decoupled internal combustion engine for a longer distance, for example after a shut-off has been passed. This is due, among other things, to the fact that the vehicle will achieve a better speed in, for example, the descent when driving with a disengaged internal combustion engine compared with driving the vehicle with a closed driveline without fuel supply. There are also variants of freewheels for which the combustion engine is switched off at the freewheel, whereby no industry supply is required. 7 537 8 In addition, freewheeling, the force which counteracts the vehicle's propulsion, will be stored when the vehicle's internal combustion engine is disengaged from the drive shaft, since there is no engine braking force which counteracts the vehicle's propulsion. This means that the vehicle will decelerate more slowly, for example when the vehicle is at the end of a downhill slope, which in turn means that freewheeling can often be used a relatively long distance after, for example, an end of a downhill slope. This results in a significant reduction in fuel consumption.

Det finns darfor farthdllare vilka innefattar en funktion som farsoker Astadkomma att frihjulning utnyttjas am det är mojligt att ddrigenom erhalla en faktisk hastighet vact mom ett hastighetsintervall vmin.t2maxSadana farthdllare kan till exempel hoja den faktiska hastigheten vact infor vdgpartier for vilka frihjulning berdknas vara mojlig. There are therefore speedometers which include a function such as ensuring that freewheeling is utilized, thereby it is possible to thereby obtain an actual speed guard at a speed range vmin.t2max Such speedometers can, for example, increase the actual speed guard in relation to road sections for which freewheeling is possible.

Kortfattad beskrivning av uppfinningen Sdsom beskrivits ovan finns ett antal farthdllarfunktioner definierade vilka syftar till att minska brdnslefarbrukningen och/eller till att forbdttra karbarheten far fordonet genom att variera fordonets faktiska hastighet v„t mom ett fordefinierat hastighetsintervall mellan en ldgsta tilldten hastighet vmffi och en hagsta tillAten hastighet vmc,„, vmffi - vmax• Den ldgsta tilldtna hastigheten vmffi kan till exempel vara relaterad till en eller flera av en nuvarande faktisk hastighet v„t for fordonet, en transmissionsmod och information am ndmnda framforliggande vdgavsnitt. Brief Description of the Invention As described above, there are a number of cruise control functions defined which aim to reduce fuel consumption and / or to improve the drivability of the vehicle by varying the actual speed of the vehicle with a predefined speed range between a minimum speed and a maximum speed. speed vmc, „, vmffi - vmax • The lowest permitted speed vmffi can, for example, be related to one or more of the current actual speeds v„ v for the vehicle, a transmission mode and information in the aforementioned front section.

Den hogsta tilldtna hastigheten Vmax kan till exempel vara relaterad till en set-hastighet vset for farthdllaren, eller fordonets nuvarande hastighet, instdlld(a) av foraren direkt, 8 537 8 och/eller till en eller flera av en transmissionsmod, en konstantfartsbromshastighet Vdhsc for fordonet, ett avstdnd till Atminstone ett framforvarande fordon, hastighetsbegrdnsningar, och en kurvatur for vdgavsnittet. The maximum permitted speed Vmax may, for example, be related to a set speed vset for the cruise control, or the current speed of the vehicle, set by the driver directly, and / or to one or more of a transmission mode, a constant speed braking speed Vdhsc for the vehicle, a distance to At least one vehicle in front, speed limits, and a curvature of the road section.

Myndigheter kan dven bestdmma en maximal hastighetsgrOns Vlegal_max vilken en typ av fordon, sdsom lastbilar eller bussar, aldrig fOr overskrida. Exempelvis har myndigheter i Europa bestdmt att vissa typer av fordon, sdsom tyngre lastbilar och bussar, inte far kOras snabbare On 90 km/h, varfOr denna av myndigheterna faststdllda maximala hastighetsgrdns v leg al _max i Europa har ett vdrde av 90 km/h, Viegcd_max - 90 km/h. Authorities can also determine a maximum speed limit Vlegal_max which a type of vehicle, such as trucks or buses, must never exceed. For example, European authorities have determined that certain types of vehicles, such as heavier lorries and buses, may not be driven faster at 90 km / h, which is why this maximum speed limit set by the authorities in Europe has a value of 90 km / h, Viegcd_max - 90 km / h.

For att undvika att denna av myndigheterna faststdllda maximala hastighetsgrdns v iegaLmax overskrids kan fordon utrustas med en hastighetsbegrdnsare vilken forhindrar att fordonet aktivt styrs att overskrida en forutbestdmd hastighet vspeed _limiter fOr hastighetsbegrOnsaren. Denna fOrutbestdmda hastighet V speed_limiter for hastighetsbegrdnsaren sdtts ofta av fordonstillverkaren till att ha ett vdrde vilket Or lika med eller ldgre On den av myndigheterna faststdllda maximala hastighetsgrdnsen Vlegal_max• I Europa kan den forutbestdmda hastigheten Vsp eed_limiter for hastighetsbegrdnsaren allts6 ha ett vdrde ldgre On eller lika med 90 km/h, Vlegal_max90 km/h. In order to avoid that this maximum speed limit set by the authorities is exceeded, vehicles can be equipped with a speed limiter which prevents the vehicle from being actively controlled to exceed a predetermined speed vspeed _limiter for the speed limiter. This predetermined speed V speed_limiter for the speed limiter is often set by the vehicle manufacturer to have a value which is equal to or less than the maximum speed limit set by the authorities Vlegal_max • In Europe, the predetermined speed Vsp eed_limiter can be equal to a speed limit 90 km / h, Vlegal_max90 km / h.

En fordel med denna begrdnsning av fordonets och/eller forarens frihet att styra den faktiska hastigheten vact är att fordonet sdkert kommer att fdrdas mom av myndigheterna tillatna hastigheter, det vill saga att den faktiska hastigheten inte overstiger den av myndigheterna faststdllda maximala hastighetsgrdnsen v leg al _max V act V leg al,max forutom om fordonet accelererar utan att aktivt styras till 9 537 8 accelerationen, exempelvis om fordonet accelererar av egen tyngd i en nedforsbacke. An advantage of this restriction on the vehicle's and / or driver's freedom to control the actual speed guard is that the vehicle will certainly be driven by the authorities' permitted speeds, ie the actual speed does not exceed the maximum speed limit set by the authorities. V act V leg al, max except if the vehicle accelerates without being actively controlled to the acceleration, for example if the vehicle accelerates on its own weight on a downhill slope.

Ett enkelt satt att spara bransle är att kora langsammare. Manga akerier viii darfor inte att deras fordon gar att kora fortare an en forutbestamd hastighet som ofta ar lagre an den av myndigheterna faststallda maximala hastighetsgransen Vlegal_max • Till exempel kan namnas att det i Europa är vanligt forekommande att hastighetsbegransarens forutbestamda hastighet v speed_limiter da sdtts till ett vdrde motsvarande Vspeed_limiter = 85 km/h. An easy way to save fuel is to slow down. Many hauliers therefore do not want their vehicles to run faster than a predetermined speed, which is often lower than the maximum speed limit set by the authorities. Vlegal_max • For example, in Europe it is common for the speed limiter's predetermined speed to be speed_limiter then set to a vdrde corresponding to Vspeed_limiter = 85 km / h.

Detta lagre varde for den forutbestamda hastigheten Vsp eed_limiter gor alltsa att hastighetsbegransaren forhindrar att fordonet aktivt styrs att overskrida den forutbestamda hastigheten Vspeed_limiter • FOraren av fordonet kan har alltsa inte genom en inmatning av en set-hastighet vsa for en farthallare, en inmatning utnyttjande en gaspedal eller en handgasanordning, eller en inmatning av ett direkt eller indirekt begart motormoment astadkomma att fordonets faktiska hastighet vaa overstiger den foruthestamda hastigheten Vspeed_limiter• Med andra ord kan till exempel det fordefinierade hastighetsintervallet vmm - vmax, vilket utnyttjas av farthallare, begrdnsas uppat med den forutbestamda hastigheten Vspeed limiter det vill saga att den hogsta tillatna hastigheten vmax, ar lika med den ferutbestdmda hastigheten Vspeed_limiter Vmax = Vspeed_limiter • En nackdel med denna striktare/lagre begransning av fordonets och/eller forarens frihet att styra den faktiska hastigheten vaa ar emellertid att denna begransning ocksa kan ha en ogynnsam effekt pa brdnsleforbrukningen och/eller kOrbarheten eftersom ett antal funktioner vilka syftar till att minska branslefOrbrukningen och/eller att oka korbarheten genom att variera den faktiska hastigheten vaa ocksa begransas uppat med 10 537 8 den ferutbestamda hastigheten Vspeed_limiter Vmax = Vspeed_limiter • Darmed blir dessa funktioner, och darigenom ocksi branslefOrbrukningen och/eller korbarheten, inte optimerad di fordonets faktiska hastighet vact begransas pi detta satt. This bearing value for the predetermined speed Vsp eed_limiter thus means that the speed limiter prevents the vehicle from being actively controlled to exceed the predetermined speed Vspeed_limiter. The driver of the vehicle can therefore not have a gas stop using a set speed, an entry for a accelerator or a hand throttle device, or an input of a directly or indirectly requested engine torque cause the actual speed of the vehicle to exceed the predetermined speed Vspeed_limiter • In other words, for example, the predefined speed range vmm - vmax, which is used by cruise control, is limited to the speed Vspeed limiter This means that the maximum permitted speed vmax is equal to the predetermined speed Vspeed_limiter Vmax = Vspeed_limiter • A disadvantage of this stricter / lower limitation of the vehicle and / or driver's freedom to control the actual speed is in between that this limitation can also have an adverse effect on fuel consumption and / or driveability because a number of functions which aim to reduce fuel consumption and / or increase driveability by varying the actual speed are also limited upwards by the predetermined speed Vspeed_limiter Vmax = Vspeed_limiter • As a result, these functions, and thus also the fuel consumption and / or runnability, are not optimized and the actual speed of the vehicle is limited in this way.

Det är ett syfte med fOreliggande uppfinning att ytterligare minska bransleforbrukningen och/eller forbattra korbarheten for fordonet. It is an object of the present invention to further reduce fuel consumption and / or improve the drivability of the vehicle.

Dessa syften uppnis genom det ovan namnda forfarandet enligt den kannetecknande delen av patentkrav 1. Syftet uppnis Oven av det ovan namnda systemet enligt den kannetecknande delen av patentkrav 18. Syftet uppnis Oven genom ovan namnda datorprogram och datorprogramprodukt. These objects are achieved by the above-mentioned method according to the characterizing part of claim 1. The object is stated above by the above-mentioned system according to the characterizing part of claim 18. The object is stated above by the above-mentioned computer program and computer program product.

Genom utnyttjande av fereliggande uppfinning kan den automatiska styrningen av den faktiska hastigheten vact utforas sa att brOnsleforbrukningen minskas och/eller kOrbarheten Okas och/eller forstaelse for funktionen okas. Detta är mojligt eftersom den faktiska hastigheten vact enligt uppfinningen vid den automatiska styrningen, exempelvis genom utnyttjande av en farthallare, kan varieras mom ett storre intervall an tidigare varit mojligt. Detta utokade hastighetsintervall begrOnsas, nOr det Or som storst, av den av myndigheterna faststallda maximala hastighetsgransen Vlegal_maxl det viii saga hastighetsintervallet kan som storst vara vmin Vlegal_max • Den automatiska styrningen har samtidigt en mycket god kontroll over fordonets faktiska hastighet vact, vilket gor att aktiva overtrOdelser av den av myndigheterna faststallda maximala hastighetsgrOnsen Vlegal_max kan undvikas trots det stOrre intervallet. By utilizing the present invention, the automatic control of the actual speed vact can be performed so that the fuel consumption is reduced and / or the drivability is increased and / or the understanding of the function is increased. This is possible because the actual speed guard according to the invention in the automatic control, for example by using a cruise control, can be varied with a larger interval than has previously been possible. This extended speed range is limited, when it is at its maximum, by the maximum speed limit set by the authorities. Vlegal_maxl the viii saga speed range can be at most vmin Vlegal_max • The automatic steering also has a very good control over the vehicle's actual speed guard, which makes it active. of the maximum speed limit set by the authorities Vlegal_max can be avoided despite the larger interval.

Enligt en utforingsform av foreliggande uppfinning har den maximala hastighetsgransen v legal_max vilket utnyttjas av uppfinningen ett oandligt varde for de omraden, exempelvis 11 537 8 lAnder, dAr myndigheterna inte har bestamt ett specifikt vArde for den maximala hastighetsgransen v leg al _max • Med andra ord kan har faktiska hastigheter v„t vid den automatiska styrningen utnyttjas aven inom ett hastighetsintervall nedat begransat av den forutbestamda hastigheten Vsp eed_limiter_man vid manuell styrning och uppat begrAnsat av den farutbestAmda hastigheten v speed_limiter _aut f r automatisk styrning Vsp eed_limiter_autf V speed _limiter _man < V act V speed _limiter _aut • Detta hastighetsintervall V speed _limiter _man < V act Alltsa erhalls genom utnyttjande av foreliggande uppfinning ett utokat hastighetsintervall vininvactl)sp eed_limiter_aut in= vilket den faktiska fordonshastigheten vact tillats variera vid den automatiska styrningen jamfort med bade manuell och automatisk styrning enligt tidigare kand teknik och aven jamfort med manuell styrning enligt foreliggande uppfinning. Detta utbkade hastighetsintervall utnyttjas enligt uppfinningen for att optimera funktionerna i den automatiska styrningen av den faktiska hastigheten. According to an embodiment of the present invention, the maximum speed limit v legal_max which is used by the invention has an unspecified value for those areas, for example 11 537 8 countries, where the authorities have not determined a specific value for the maximum speed limit v leg al _max • In other words, has actual speeds v in the automatic control also used within a speed range down limited by the predetermined speed Vsp eed_limiter_man in manual control and up limited by the predetermined speed v speed_limiter _aut for automatic control Vsp eed_limiter_autf V speed _limiter _man < _limiter _aut • This speed range V speed _limiter _man <V act Thus, by utilizing the present invention, an extended speed range is obtained vininvactl) sp eed_limiter_aut in = which the actual vehicle speed vact is allowed to vary in the automatic steering with both manual and automatic steering according to prior art and also with manual steering according to the present invention. This extended speed range is utilized according to the invention to optimize the functions of the automatic control of the actual speed.

Genom utnyttjande av foreliggande uppfinning kan en minskning av brAnsleforbrukningen uppnas, genom att under sa lang tid som mojligt Astadkomma ett sa lagvarvigt, och darmed ett sa bransleekonomiskt, vaxelval som majligt och/eller att under sa lang tid som mojligt astadkomma frihjulning for fordonet. 12 537 8 Genom utnyttjande av fareliggande uppfinning kan aven ett utnyttjande av en hogre vaxel forlangas jamfort med utnyttjanden vilka varit majliga enligt tidigare kanda forfaranden. Alternativt kan ett utnyttjande av en hogre vaxel majliggOras vid karfall ddr tidigare kanda fOrfaranden inte kunna utnyttja den hogre vaxeln. By utilizing the present invention, a reduction in fuel consumption can be achieved, by achieving as long as possible a lawful, and thus as economical, gear selection as possible and / or to provide freewheeling for the vehicle for as long as possible. By utilizing the present invention, an utilization of a higher gear can also be required in comparison with utilizations which have been possible according to prior art procedures. Alternatively, an utilization of a higher gear may be possible in the event of a car case where prior art procedures are not able to utilize the higher gear.

Syftet med mojliggorandet av utnyttjandet av den hogre vaxeln och/eller forlangningen av utnyttjandet av den hOgre vaxeln och/eller mojliggorandet av frihjulningen och/eller farlangningen av utnyttjandet av frihjulningen dr att fa ner motorvarvtalet sa langt som mojligt under sa lang tid som majligt, vilket sdnker det genomsnittliga motorvarvtalet och darmed sanker den totala bransleforbrukningen. The purpose of enabling the utilization of the right-hand gear and / or the demand for the utilization of the right-hand gear and / or the enabling of the freewheel and / or the elongation of the utilization of the freewheel is to reduce the engine speed as far as possible for as long as possible. lowers the average engine speed and thus lowers the total fuel consumption.

Genom utnyttjande av foreliggande uppfinning kan aven korbarheten has ett fordon med ett lagt varde pa den faruthestamda hastigheten Vspeed_limiter for hastighetsbegransaren vid manuell styrning forbattras genom att tillata att den fOrutbestamda hastigheten Vsp eed_limiter overskrids temporart, exempelvis vid en omkorning. Pa motsvarande satt kan fordonet tillatas halla en hogre faktisk hastighet infor och i uppforsbackar vilket gor att foraracceptansen fbr en lagt satt forutbestamd hastighet vsp eed_limiter Oka r • Kortfattad figurforteckning Uppfinningen kommer att belysas narmare nedan med ledning av de bifogade ritningarna, dar lika hanvisningsbeteckningar anvands for lika delar, och van: Figur 1 visar en icke-begransande illustration av en utforingsform av foreliggande uppfinning, Figur 2 visar en icke-begransande illustration av en utforingsform av foreliggande uppfinning, 13 537 8 Figur 3 visar ett flodesschema for ett forfarande enligt en utforingsform av foreliggande uppfinning, Figur 4 visar en styrenhet enligt foreliggande uppfinning, Figur 5 visar ett fordon enligt foreliggande uppfinning. By utilizing the present invention, the crossability can also have a vehicle with a value added to the speed-determined speed Vspeed_limiter for the speed limiter in manual control is improved by allowing the predetermined speed Vsp eed_limiter to be exceeded temporarily, for example in the event of a overtaking. Correspondingly, the vehicle can be allowed to maintain a higher actual speed in front and on uphill slopes, which means that the pre-acceptance for a set predetermined speed vsp eed_limiter Oka r • Brief figure list The invention will be further elucidated below with reference to the accompanying drawings, where like reference numerals are used. equal parts, and van: Figure 1 shows a non-limiting illustration of an embodiment of the present invention, Figure 2 shows a non-limiting illustration of an embodiment of the present invention, Figure 3 shows a flow chart of a method according to an embodiment of the present invention, Figure 4 shows a control unit according to the present invention, Figure 5 shows a vehicle according to the present invention.

Beskrivning av foredragna utforings former Enligt foreliggande uppfinning gors en skillnad pa en manuell styrning av den faktiska hastigheten vaa, vilken kan utnyttja exempelvis en gaspedal, en handgasanordning, eller en anordning for inmatning av en set-hastighet vsa, och pa en automatisk styrning av den faktiska hastigheten vaa. Enligt foreliggande uppfinning tillats nOmligen den automatiska styrningen att aktivt styra fordonets faktiska hastighet vaa till ett hogre vOrde On den manuella styrningen tillats att aktivt styra fordonets faktiska hastighet vaa till. DESCRIPTION OF PREFERRED EMBODIMENTS According to the present invention, a distinction is made between a manual control of the actual speed vaa, which can use, for example, an accelerator pedal, a hand throttle device, or a device for inputting a set speed, etc., and an automatic control of the actual speed vaa. According to the present invention, the automatic control is actively allowed to actively control the actual speed of the vehicle to a higher value. The manual control is allowed to actively control the actual speed of the vehicle to.

Detta kan astadkommas genom att systemet som utfor den automatiska styrningen, till exempel en farthallare vilken utfor den aktiva styrningen genom att beg-Ora motormoment fran motorn i fordonet, tillats att utnyttja hastigheter vilka ligger Over den forutbestamda hastigheten Vspeed_limiter men ligger under eller lika med den av myndigheterna faststallda maximala hastighetsgrOnsen Viegaimax. Alltsa begransas for den automatiska styrningen det fordefinierade hastighetsintervallet vmut - vm nar det Or som storst uppat av den av myndigheterna faststallda maximala hastighetsgrOnsen Vlegal_max eftersom den hogsta tillatna hastigheten vmax, Or lika med den av myndigheterna faststallda maximala hastighetsgrOnsen v legal_max Vmax =Vlegal_max • For den manuella styrningen begransas dock det fordefinierade hastighetsintervallet vmin - vmax for farthallaren uppat med den 14 537 8 ferutbestamda hastigheten Vspeed_limiterr det viii saga att den hogsta tillatna hastigheten vmax, är lika med den forutbestamda hastigheten Vspeed_limiter Vmax = Vspeed_limiter vilken alltsa är lagre an den av myndigheterna faststallda maximala hastighetsgransen Vlegal_max • Saledes har har den automatiska styrningen maximalt ett starre fordefinierat hastighetsintervall vmin Vlegal_max an det fordefinierade hastighetsintervall vmin Vspeed_limiter SOM kan utnyttjas vid den manuella styrningen av fordonets faktiska hastighet vact. This can be achieved by allowing the system which performs the automatic steering, for example a cruise control which performs the active steering by requesting engine torque from the engine in the vehicle, to exceed speeds which are above the predetermined speed Vspeed_limiter but below or equal to it. The maximum speed limit set by the authorities is Viegaimax. Thus, for the automatic control, the predefined speed range vmut is limited - vm when it Or is greater than the maximum speed limit set by the authorities Vlegal_max because the maximum permitted speed vmax, Or equal to the maximum speed limit set by the authorities v legal_max Vmaal however, the manual control limits the predefined speed range vmin - vmax for the cruise control up to the predetermined speed Vspeed_limiterr it viii saga that the maximum speed allowed vmax is equal to the predetermined speed Vspeed_limiter Vmax is fixed by Vsp maximum speed limit Vlegal_max • Thus, the automatic control has a maximum of a rigid predefined speed range vmin Vlegal_max than the predefined speed range vmin Vspeed_limiter WHICH can be used for the manual control of the vehicle compartment tical speed guard.

Detta gor att den automatiska styrningen kan utforas pa ett mer optimalt satt an tidigare med avseende pa exempelvis bransleforbrukning och/eller korbarhet och/eller forstaelse for funktionen, eftersom den faktiska hastigheten vact kan varieras mom ett storre intervall, som starst hegransat av den av myndigheterna faststallda maximala hastighetsgransen Vlegal_max Vmin Vlegal_max an tidigare. Den automatiska styrningen har samtidigt en mycket god kontroll Over fordonets faktiska hastighet vact, vilket gor att aktiva Overtradelser av den av myndigheterna faststallda maximala hastighetsgransen vlegal_max kan undvikas trots det storre intervallet. This means that the automatic control can be performed in a more optimal way than before with regard to, for example, fuel consumption and / or scalability and / or understanding of the function, since the actual speed guard can be varied over a larger range, as first audited by the authorities set maximum speed limit Vlegal_max Vmin Vlegal_max an earlier. At the same time, the automatic steering has a very good control over the vehicle's actual speed guard, which means that active Violations of the maximum speed limit set by the authorities vlegal_max can be avoided despite the larger interval.

Enligt en utforingsform av uppfinningen innefattar den automatiska styrningen styrning utford av farthallare vilka är speciellt väl anpassade for omkorningar av framforvarande fordon genom att identifiera inmatningar av foraren sasom indikationer pa att en omkorning gors eller kommer att goras. Till exempel kan en sadan farthallare, under farthallarkorning, identifiera en nedtryckning av en gaspedal, en aktivering av en handgasanordning, eller en annan inmatning gjord av foraren som en omkorningsindikation, varvid det 537 8 sterre fardefinierade hastighetsintervallet Vmin —Vlegal_max kan utnyttjas vid omkorningen. According to one embodiment of the invention, the automatic steering control comprises the challenge of speedometers which are particularly well adapted for overtaking of vehicles in front by identifying inputs of the driver as indications that a overrun is or will be made. For example, during cruise control, such a cruise control can identify a depressing of a accelerator pedal, an activation of a hand throttle device, or another entry made by the driver as a overrun indication, whereby the 537 8 star speed defined speed range Vmin —Vlegal_max can be used in the overrun.

Det (jamfert med den manuella styrningen) utokade hastighetsintervallet som kan utnyttjas vid den automatiska styrningen definieras enligt en utforingsform av fereliggande uppfinning som att olika forutbestamda hastigheter for hastighetsbegransaren faststalls far den manuella styrningen speed_limiter_man och for den automatiska styrningen Vspeed_limiter _aut • Alltsa är en farare vid den manuella styrningen av den faktiska hastigheten v„t farhindrad att aktivt overskrida en forutbestdmd hastighet V speed_limiter _man for hastighetsbegrdnsaren vilken är fastst011d far manuell styrning. The (compared to the manual control) extended speed range that can be used in the automatic control is defined according to an embodiment of the present invention as that different predetermined speeds for the speed limiter are determined by the manual control speed_limiter_man and for the automatic control Vspeed_limiter _autare. the manual control of the actual speed is prevented from actively exceeding a predetermined speed V speed_limiter _man for the speed limiter which is fixed for manual control.

Pd motsvarande sOtt Or den automatiska styrningen av den faktiska hastigheten v„t, exempelvis genom utnyttjande av en farthdllarfunktion, forhindrad att aktivt overskrida en farutbestamd hastighet Vspeed_limiter _aut far hastighetsbegransaren, vilken är fastst011d for automatisk styrning. Den forutbestOmda hastigheten Vsp eed_limiter_aut vid automatisk styrning Or liar hogre On den faruthestOmda hastigheten Vsp eect _limiter _man f 6r manuell styrning, men Or lagre an eller lika med den myndigheterna faststallda maximala hastighetsgrans v le g al _max ; V vspeed _limiter _man < V speed_limiter< _aut — leg al_max • Enligt en utforingsform Or den hogsta tilldtna hastigheten vm„ far den faktiska hastigheten vact ,vilken utnyttjas av en farthdllare, lika med denna hastighetsgrdns far automatisk styrning V speed_limiter _aut ; 'max = V speed_limiter _aut • Med andra ord kan hdr faktiska hastigheter vact vid den automatiska styrningen Oven utnyttjas mom ett hastighetsintervall neddt begransat av den forutbestdmda 16 537 8 hastigheten v speed_limiter_man vid manuell styrning och uppAt begransat av den forutbestamda hastigheten Vspeed limiter aut for automatisk styrning vsp eed_limiter_autf V speed _limiter _man < V act < V speed _limiter _aut • Detta hastighetsintervall vspeed _limiter _man < V act V speed _limiter _aut kan inte utnyttjas vid manuell styrning enligt foreliggande uppfinning. Detta hastighetsintervall Vspeed_limiter _man < V act V speed _limiter _aut har tidigare inte heller kunnat utnyttjas vid automatisk styrning enligt tidigare kand teknik, dar en och samma fOrutbestamda hastighet v speed_limiter for hastighetsbegransaren har utnyttjats bade vid manuell och automatisk styrning. Correspondingly, the automatic control of the actual speed is prevented, for example by using a cruise control function, from actively exceeding a speed-determined speed Vspeed_limiter _out the speed limiter, which is fixed for automatic control. The predetermined speed Vsp eed_limiter_aut in automatic control Or liar hogre On the speed limit Vsp eect _limiter _man for manual control, but Or store at or equal to the maximum speed limit set by the authorities v le g al _max; V vspeed _limiter _man <V speed_limiter <_aut - leg al_max • According to an embodiment Or the maximum permitted speed vm „the actual speed guard, which is used by a cruise control, equal to this speedometer has automatic control V speed_limiter _aut; 'max = V speed_limiter _aut • In other words, hdr actual speeds can be guarded at the automatic control Above a speed interval limited by the predetermined 16 537 8 speed v speed_limiter_man can be used in manual control and upAt limited by the predetermined speed Vspeed limiter aut for automatic control vsp eed_limiter_autf V speed _limiter _man <V act <V speed _limiter _aut • This speed range vspeed _limiter _man <V act V speed _limiter _aut cannot be used in manual control according to the present invention. This speed range Vspeed_limiter _man <V act V speed _limiter _aut has not previously been possible to use in automatic control according to prior art, where one and the same predetermined speed v speed_limiter for the speed limiter has been used in both manual and automatic control.

Alltsa erhalls genom utnyttjande av foreliggande uppfinning ett utOkat hastighetsintervall vinin Enligt en utforingsform av foreliggande uppfinning utnyttjar den automatiska styrningen en farthallare, till exempel en farthallare vilken baserar sina beslut pa information, sasom topografisk information, far framforvarande vagavsnitt, vilken infor en uppforsbacke hojer den faktiska hastigheten vaa jamfort med en faktisk hastighet vaa vilken hade resulterat av den manuella styrningen. Detta astadkoms enligt utforingsformen genom att faktiska hastigheter vaa mom hastighetsintervallet som begransas av den fOrutbestamda hastigheten vid manuell styrning Vspeed_limiter _man och den forutbestamda hastigheten vid automatisk styrning Vsp eed _limiter _aut utnyttjas vid den automatiska styrningen; v5p eecl _limiter _man < V act vspeed_limiter _aut • Dessutom utnyttjas de faktiska hastigheter vaa 17 537 8 vilka kan utnyttjas vid den manuella styrningen, vilket gor att den automatiska styrningen kan utnyttja ett utokat hastighetsintervall vm in < — - V act V speed _limiter _aut dl den faktiska hastigheten vaa regleras. Harigenom kan alltsa den hojda faktiska hastigheten vaa utnyttjas infor uppforsbacken, vilket gor att en nedvaxling kan undvikas eller senarelaggas under uppforsbacken, varigenom bransleforbrukningen kan sankas eftersom utnyttjande av den hogre vaxeln ar branslesnalare an ett utnyttjande av den lagre vaxeln skulle vara. Thus, by utilizing the present invention, an extended speed range of vinine is obtained According to an embodiment of the present invention, the automatic control uses a cruise control, for example a cruise control which bases its decisions on information, such as topographical information, for the front section of the road, which in front of an uphill slopes increases the actual speed compared to an actual speed which had resulted of the manual control. This is achieved according to the embodiment by using actual speeds in the speed range limited by the predetermined speed in manual control Vspeed_limiter _man and the predetermined speed in automatic control Vsp eed _limiter _aut is used in the automatic control; v5p eecl _limiter _man <V act vspeed_limiter _aut • In addition, the actual speeds vaa 17 537 8 are used which can be used in the manual control, which means that the automatic control can use an unspecified speed range vm in <- - V act V speed _limiter _aut dl the actual speed vaa is regulated. As a result, the increased actual speed can be utilized in front of the uphill slope, which means that a downshift can be avoided or delayed below the uphill slope, whereby fuel consumption can be reduced because utilization of the higher gear is industry-efficient than utilization of the lower gear would be.

Figur 1 visar ett icke-begransande exempel pa denna utforingsform, dar fordonets faktiska hastighet vaa tillats oka over den forutbestamda hastigheten vid manuell styrning speed_limiter_man vid en uppforsbacke cid den automatiska styrningen utnyttjas. Harigenom erhalls en fOrhOjd faktisk hastighet V act_invention_uphill (heldragen kurva) vilken akar upp till den forutbestamda hastigheten vid automatisk styrning Vsp eed _limiter _aut • Genom utnyttjande av den forhojda faktiska hastigheten V act_invention_uphill kan en nedvaxling undvikas och fordonet kan ta sip igenom uppforsbacken pa samma vaxel den utnyttjade innan uppforsbacken, enligt exemplet vaxel 12. Alltsa kan nedvaxling undvikas genom hela vagavsnittet pa grund av att den automatiska styrningen tillits utnyttja hastigheter upp till den hOgre forutbestamda hastigheten vid automatisk styrning vspeed _limiter _aut varvid vaxel 12 kan utnyttjas genom hela vagavsnittet. Med tidigare kanda lasningar far den faktiska hastigheten vaa inte overstiga den forutbestamda hastigheten vid manuell styrning v speed_limiter_manf vilket gOr att den faktiska hastigheten v amprthrart (streckad kurva) ligger kvar pa set- hastigheten v„t, vilken motsvarar den forutbestamda hastigheten vid manuell styrning vspeed_limiter _man till dess att den borjar sjunka pa grund av uppforsbacken. Med tidigare kand teknik 18 537 8 skulle sedan vid en viss faktisk hastighet och/eller vid ett visst varvtal en nedvaxling (Nedvaxlingpriorart) ske, enligt detta exempel fran vaxel 12 till vaxel 11. Figure 1 shows a non-limiting example of this embodiment, where the actual speed of the vehicle is allowed to increase above the predetermined speed in manual steering speed_limiter_man on an uphill slope when the automatic steering is used. This results in an increase in actual speed V act_invention_uphill (solid curve) which increases to the predetermined speed in automatic steering Vsp eed _limiter _aut • By utilizing the increased actual speed V act_invention_uphill a downshift can be avoided and the vehicle can take the same throttle back. the one used before the uphill slope, according to the example gear 12. Thus, downshifting can be avoided throughout the carriage section because the automatic steering is allowed to use speeds up to the higher predetermined speed in automatic steering vspeed _limiter _aut whereby gear 12 can be used throughout the carriage section. With previous known readings, the actual speed must not exceed the predetermined speed in manual control v speed_limiter_manf, which means that the actual speed v amprthrart (dashed curve) remains at the set speed v "t, which corresponds to the predetermined speed in manual control vspeed_limiter _man until it starts to sink due to the uphill slope. With prior art 18 537 8, at a certain actual speed and / or at a certain speed, a downshift (Downshift priority type) would take place, according to this example from gear 12 to gear 11.

Alltsa kan nedvaxling undvikas genom utnyttjande av denna utforingsform av uppfinningen, varigenom en lagre bransleforbrukning eller en kortare kortid astadkoms. I vissa kerfall erhalls bade en kortare kertid och en lagre bransleforbrukning genom utnyttjande av uppfinningen. Thus, downshifting can be avoided by utilizing this embodiment of the invention, thereby achieving a lower fuel consumption or a shorter short time. In some cases, both a shorter time and a lower fuel consumption are obtained by utilizing the invention.

Enligt en utforingsform av foreliggande uppfinning utnyttjar den automatiska styrningen en farthallare, vilken infor ett vagavsnitt dar frihjulning kan bedomas vara tillampbar hojer den faktiska hastigheten vact jamfart med en faktisk hastighet vaa vilken hade resulterat av den manuella styrningen. Detta astadkoms genom att, fOrutom utnyttjande av faktiska hastigheter vaa vilka kan utnyttjas vid den manuella styrningen, aven utnyttja faktiska hastigheter vact mom ett hastighetsintervall begransat av den forutbestamda hastigheten vid manuell styrning Vsp eed_limiter_man och den forutbestamda hastigheten vid automatisk styrning Vsp eed limiter_aut ; vspeed _limiter _man < V act Figur 2 visar ett icke-begransande exempel pa denna utfOringsform, dar fordonets faktiska hastighet vact tillats oka over den forutbestamda hastigheten vid manuell styrning speed_limiter_man cid den automatiska styrningen utnyttjas. According to an embodiment of the present invention, the automatic steering uses a cruise control, which in front of a wagon section where freewheeling can be judged to be applicable, increases the actual speed guard compared with an actual speed which would have resulted from the manual steering. This is accomplished by, in addition to utilizing actual speeds vaa which can be utilized in the manual control, also utilizing actual speeds vact mom a speed range limited by the predetermined speed in manual control Vsp eed_limiter_man and the predetermined speed in automatic control Vsp eed limiter_aut; vspeed _limiter _man <V act Figure 2 shows a non-limiting example of this embodiment, where the actual speed of the vehicle is allowed to increase above the predetermined speed in manual steering speed_limiter_man and the automatic steering is used.

Harigenom erhalls en forhojd faktisk hastighet v act_inventionfreevvheel 19 537 8 (heldragen forst stigande och sedan sjunkande kurva) vilken bkar upp till den fbrutbestamda hastigheten vid automatisk styrning Vsp„djimiter_autr varefter en branslebesparande frihjulning kan utnyttjas. Med tidigare kanda lbsningar far den faktiska hastigheten v„t inte Overstiga den forutbestamda hastigheten vid manuell styrning Vspeeci_limiterman vilket gbr att den faktiska hastigheten vact,pr ioran ofbrandrat ligger kvar pa set-hastigheten vset, vilken motsvarar den fOrutbestamda hastigheten vid manuell styrning Vspeed_limiterman Om ingen frihjulning sker. Om frihjulning sker med tidigare kanda lasningar sá sjunker den faktiska hastigheten Vamprior artireewheel relativt langt under den fbrutbestamda hastigheten vid manuell styrning v speed_limiter _man • Sasom framgar av figur 1 erhalls genom utnyttjande av fOreliggande uppfinning en hogre medelhastighet samtidigt som den branslebesparande frihjulningen kan utnyttjas. Dessutom erhalls en farthallning och frihjulning som intuitivt kan fbrstas och accepteras av en fbrare av fordonet, eftersom fordonets faktiska hastighet halls pa en hog niva trots frihjulningen. Det kan noteras att den faktiska hastigheten Vact,prior artireewheel som resulterade av tidigare kanda losningar av en fbrare upplevs som att den gor fordonets framfart sa langsam att frihjulningsfunktionen riskerar att inaktiveras av fbraren. Fbreliggande uppfinning ger alltsa aven en totalt sett sankt branslefbrbrukning genom ett bkat utnyttjande av frihjulningsfunktionen. This gives an increased actual speed v act_inventionfreevvheel 19 537 8 (solid first ascending and then descending curve) which rises to the predetermined speed in automatic steering Vsp „djimiter_autr after which an industry-saving freewheel can be used. With previous known solutions, the actual speed must not exceed the predetermined speed in manual control Vspeeci_limiterman, which means that the actual speed guard, prioren unburned remains at the set speed vset, which corresponds to the predetermined speed in manual control Vspeed_limiterman. freewheeling happens. If freewheeling takes place with previous known loads, then the actual speed Vamprior artireewheel falls relatively far below the predetermined speed in manual control v speed_limiter _man • As shown in Figure 1, by using the present invention a higher average speed is obtained while the fuel-saving freewheeling can be used. In addition, a cruise control and freewheel are obtained that can be intuitively driven and accepted by a driver of the vehicle, since the actual speed of the vehicle is maintained at a high level despite the freewheeling. It can be noted that the actual speed Vact, prior artireewheel that resulted from previous known discharges of a driver is perceived as making the vehicle's progress so slow that the freewheel function risks being deactivated by the driver. The present invention thus also provides an overall slow fuel consumption through an increased utilization of the freewheeling function.

Enligt en utforingsform av foreliggande uppfinning utnyttjar den automatiska styrningen en farthallare, vilken infor ett vagavsnitt dar en hogre vaxel an en innan vagavsnittet anvand vaxel kan bedbmas vara tillampbar hojer fordonets faktiska hastighet vact jamfbrt med en faktisk hastighet vact vilken hade 537 8 resulterat av den manuella styrningen. Detta astadkoms genom att den automatiska styrningen, forutom utnyttjande av faktiska hastigheter vaa vilka kan utnyttjas vid den manuella styrningen, aven utnyttjar faktiska hastigheter vaa mom ett hastighetsintervall begransat av den forutbestamda hastigheten vid manuell styrning Vsp eed_limiter_man och den fOrutbestamda hastigheten vid automatisk styrning Vsp eed _limiter _aut ; vspeed _limiter _man < V act V speed _limiter _aut • Alltsd kan den automatiska styrningen utnyttja det utokade hastighetsintervallet vmm< V act V speed_limiter _aut dá den faktiska hastigheten pact regleras, vilket gOr att en uppvdxling kan mejliggOras under vagavsnittet. Uppvaxlingen ger ett ldgre motorvarvtal och ddrmed en ldgre bramsleforbrukning, sasom har beskrivits ovan. According to an embodiment of the present invention, the automatic steering uses a cruise control, which in a carriage section where a higher gear than a gear used before the carriage section can be found to be applicable increases the actual speed of the vehicle compared to an actual speed guard which had resulted from the manual the steering. This is achieved by the automatic control, in addition to the use of actual speeds which can be used in the manual control, also uses actual speeds which have a speed range limited by the predetermined speed in manual control Vsp eed_limiter_man and the predetermined speed in automatic control Vsp eed _limiter _aut; vspeed _limiter _man <V act V speed _limiter _aut • Thus, the automatic control can utilize the extended speed range vmm <V act V speed_limiter _aut when the actual speed pact is regulated, which means that an increase can be made possible during the wagon section. The gearbox gives a lower engine speed and thus a lower brake consumption, as has been described above.

Sasom namnts ovan kan den av myndigheterna forutbestamda maximala hastighetsgrdnsen v legal_max vara relaterad till en fordonstyp. Alltsa kan har exempelvis fordonstypen lastbilar ha ett fOrutbestdmt vdrde for denna hastighetsgrdns v leg al _max medan exempelvis fordonstypen bussar kan ha samma eller ett annat varde for denna hastighetsgrans vlegal_max • Den forutbestamda hastigheten Vspeed_limiter _man vid manuell styrning och/eller den forutbestamda hastigheten Vspeed _limiter _ant vid automatisk styrning är enligt en utfOringsform relaterad till ett specifikt fordon. Alltsa kan exempelvis olika exemplar av fordonstypen lastbilar ha olika forutbestamda varden for dessa hastighetsgranser vsp eed limiter man V speed limiter ant • Atminstone en av den forutbestamda hastigheten Vsp eed_limiter_man vid manuell styrning och den forutbestamda hastigheten vspeed _limiter _aut vid automatisk styrning kan dessutom vara relaterad till en kormod fer ndmnda fordon. Alltsa kan till exempel den forutbestamda hastigheten Vsp eed _limiter _man vid manuell 21 537 8 styrning ges ett lagre varde for karmoden "ECO" an for kormoden "POWER". As mentioned above, the maximum speed limit v legal_max predetermined by the authorities may be related to a vehicle type. Thus, for example, the vehicle type trucks may have a predetermined value for this speed limit vleg al _max while, for example, the vehicle type buses may have the same or a different value for this speed limit vlegal_max • The predetermined speed Vspeed_limiter _man for manual steering and / or the speed predetermined in automatic steering is according to one embodiment related to a specific vehicle. Thus, for example, different vehicles of the vehicle type trucks may have different predetermined values for these speed limits vsp eed limiter man • At least one of the predetermined speed Vsp eed_limiter_man in manual steering and the predetermined speed vspeed _limiter _aut in automatic steering can also be related a kormod fer ndmnda vehicle. Thus, for example, the predetermined speed Vsp eed _limiter _man in manual control can be given a lower value for the mode "ECO" than for the mode "POWER".

Enligt en utforingsform av foreliggande uppfinning Or den av myndigheterna faststallda maximala hastighetsgransen v leg al _max relaterad till en hastighetsbegransning fer ett vagavsnitt. According to an embodiment of the present invention, the maximum speed limit set by the authorities is legally related to a speed limit for a wagon section.

Ear kan alltsa den av myndigheterna faststallda maximala hastighetsgransen v legal_max variera langs en kOrstracka (Jar flera olika vagavsnitt med olika hastighetsbegransningar passeras. Ear can thus the maximum speed limit set by the authorities v legal_max vary along a course distance (Jar several different road sections with different speed limits are passed.

Den forutbestamda hastigheten Vspeed_limiter _man V id manuell styrning och den forutbestamda hastigheten vspeed_limiter _aut vid automatisk styrning, vilka styr hastighetsbegransaren i fordonet Or opaverkbara for en forare av fordonet. Alltsa kan foraren inte aktivt overskrida de forutbestamda hastigheterna vspeed _limiter _man V speed_limiter _aut genom att sjalv andra fordonets installningar for de fOrutbestamda hastigheterna Vspeed _limiter _man V spe ed _limiter _aut • Detta kan endast goras av fordonstillverkaren och/eller vid service. Dock kan de forutbestamda hastigheterna V speed _limiter _man V speed_limiter _aut aldrig ges varden everstigande den av myndigheterna faststallda maximala hastighetsgransen v leg al _max • Figur 3 visar ett flodesschema for en utfOringsform av foreliggande uppfinning I ett forsta steg 301 av ferfarandet enligt utfOringsformen faststalls ett hastighetsintervall mom vilket en manuell styrning av fordonets faktiska hastighet far variera den faktiska hastigheten Vact, dar detta hastighetsintervall nedat begransas av ovan namnda minsta tillatna hastighet och uppat begransas av ovan namnda forutbestamda hastigheten vspeed _limiter _man vid manuell styrning Vinin V act V speed _limiter _man • 22 537 8 I ett andra steg 302 av farfarandet enligt utfaringsformen faststalls ett utokat hastighetsintervall mom vilket en automatisk styrning av fordonets faktiska hastighet, exempelvis genom farthallarstyrning, far variera den faktiska hastigheten vac." (Jar detta hastighetsintervall nedat begransas av ovan namnda minsta tillatna hastighet och uppat begransas av ovan namnda forutbestamda hastigheten vsp eed _limiter _aut V d automatisk styrning vm < in — - V actV speed _limiter_aut och dar V speed_limiter _man < V speed_limiter< Vie gal_max • I ett tredje steg 303 av farfarandet utnyttjas detta utokade hastighetsintervall vmV < in — - act V speed _limiter _aut for att vid den automatiska styrningen av den faktiska hastigheten vact astadkomma optimeringar av den automatiska styrningen avseende exempelvis korbarhet, bransleforbrukning och/eller komfort i fordonet. The predetermined speed Vspeed_limiter _man in manual steering and the predetermined speed vspeed_limiter _out in automatic steering, which control the speed limiter in the vehicle Or ineffective for a driver of the vehicle. Thus, the driver can not actively exceed the predetermined speeds vspeed _limiter _man V speed_limiter _aut by the other vehicle's installations for the predetermined speeds Vspeed _limiter _man V speed _limiter _aut • This can only be done by the vehicle manufacturer and / or during service. However, the predetermined velocities V speed _limiter _man V speed_limiter _aut can never be given the value exceeding the maximum speed limit set by the authorities v leg al _max • Figure 3 shows a flow chart for an embodiment of the present invention In a first step 301 of the procedure according to the embodiment which a manual control of the actual speed of the vehicle may vary the actual speed Vact, where this speed range is limited downwards by the above-mentioned minimum permitted speed and upwards is limited by the above-mentioned predetermined speed vspeed _limiter _man in manual control Vinin V act V speed _limiter _man • 22 537 8 In a second step 302 of the method according to the embodiment, an unspecified speed range is determined, which means that an automatic control of the actual speed of the vehicle, for example by speed control, may vary the actual speed vac. "(Jar this speed range is limited below of the above-mentioned minimum permitted speed and upward is limited by the above-mentioned predetermined speed vsp eed _limiter _aut V d automatic control vm <in - - V actV speed _limiter_aut and dar V speed_limiter _man <V speed_limiter <Vie gal_max • In a third step 303 of the procedure this extended speed range vmV <in - - act V speed _limiter _aut is used to achieve optimizations of the automatic control in the automatic control of the actual speed vact with regard to, for example, driveability, fuel consumption and / or comfort in the vehicle.

Fackmannen inser att ett fOrfarande for reglering av en faktisk hastighet vact for ett fordon enligt foreliggande uppfinning dessutom kan implementeras i ett datorprogram, vilket nar det exekveras i en dator astadkommer att datorn utfor metoden. Datorprogrammet utgor vanligtvis en del av en datorprogramprodukt 403, dar datorprogramprodukten innefattar ett lampligt digitalt lagringsmedium pa vilket datorprogrammet Or lagrat. Namnda datorldsbara medium bestar av ett lampligt minne, sasom exempelvis: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash- minne, EEPROM (Electrically Erasable PROM), en harddiskenhet, etc. Those skilled in the art will appreciate that a method of controlling an actual speed guard for a vehicle according to the present invention may additionally be implemented in a computer program, which when executed in a computer causes the computer to execute the method. The computer program usually forms part of a computer program product 403, where the computer program product comprises a suitable digital storage medium on which the computer program Or is stored. Said computer-recordable medium consists of a readable memory, such as: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk drive, etc .

Figur 4 visar schematiskt en styrenhet 400. Styrenheten 400 innefattar en berakningsenhet 401, vilken kan utgOras av vasentligen nagon lamplig typ av processor eller mikrodator, t.ex. en krets for digital signalbehandling (Digital Signal 23 537 8 Processor, DSP), eller en krets med en forutbestdmd specifik funktion (Application Specific Integrated Circuit, ASIC). Berdkningsenheten 401 är farbunden med en, i styrenheten 400 anordnad, minnesenhet 402, vilken tillhandahdller berdkningsenheten 401 t.ex. den lagrade programkoden och/eller den lagrade data berdkningsenheten 401 behover for att kunna utfara berdkningar. Berdkningsenheten 401 är dven anordnad att lagra del- eller slutresultat av berdkningar i minnesenheten 402. Figure 4 schematically shows a control unit 400. The control unit 400 comprises a computing unit 401, which can be constituted by essentially any suitable type of processor or microcomputer, e.g. a digital signal processing circuit (Digital Signal 23 537 8 Processor, DSP), or a circuit with a predetermined specific function (Application Specific Integrated Circuit, ASIC). The bending unit 401 is connected to a memory unit 402 arranged in the control unit 400, which provides the bending unit 401 e.g. the stored program code and / or the stored data recovery unit 401 need to be able to perform calculations. The coverage unit 401 is then arranged to store partial or final results of coverage in the memory unit 402.

Vidare är styrenheten 400 forsedd med anordningar 411, 412, 413, 414 for mottagande respektive sdndande av in- respektive utsignaler. Dessa in- respektive utsignaler kan inneh011a vOgformer, pulser, eller andra attribut, vilka av anordningarna 411, 413 for mottagande av insignaler kan detekteras som information och kan omvandlas till signaler som kan behandlas av berdkningsenheten 401. Dessa signaler tillhandah011s sedan berdkningsenheten 401. Anordningarna 412, 414 for sdndande av utsignaler Or anordnade att omvandla berdkningsresultat frAn berdkningsenheten 401 till utsignaler for overforing till andra delar av fordonets styrsystem och/eller den/de komponenter far vilka signalerna är avsedda, exempelvis till ett motorstyrsystem och/eller ett styrsystem far vdxling och/eller frihjulning. Furthermore, the control unit 400 is provided with devices 411, 412, 413, 414 for receiving and transmitting input and output signals, respectively. These input and output signals may contain waveforms, pulses, or other attributes, which of the input signals receiving devices 411, 413 may be detected as information and may be converted into signals which may be processed by the calculating unit 401. These signals are then provided to the calculating unit 401. The devices 412 414 for transmitting output signals Or arranged to convert coverage results from the reconnaissance unit 401 to output signals for transmission to other parts of the vehicle control system and / or the component (s) for which the signals are intended, for example to an engine control system and / or a control system for switching and / or or freewheeling.

Var och en av anslutningarna till anordningarna for mottagande respektive sdndande av in- respektive utsignaler kan utgoras av en eller flera av en kabel; en databuss, sOsom en CAN-buss (Controller Area Network bus), en MOST-buss (Media Orientated Systems Transport bus), eller nOgon annan busskonfiguration; eller av en trOdlos anslutning. En fackman inser att den ovan ndmnda datorn kan utgoras av berdkningsenheten 401 och att det ovan ndmnda minnet kan utgoras av minnesenheten 402. 24 537 8 Allmant bestar styrsystem i moderna fordon av ett kommunikationsbussystem bestdende av en eller flera kommunikationsbussar for att sammankoppla ett antal elektroniska styrenheter (ECU:er), eller controllers, och olika pa fordonet lokaliserade komponenter. Ett dylikt styrsystem kan innefatta ett stort antal styrenheter, och ansvaret fOr en specifik funktion kan vara uppdelat pa fler an en styrenhet. Fordon av den visade typen innefattar alltsa ofta betydligt fler styrenheter an vad som visas i figur 4, vilket är valkOnt for fackmannen mom teknikomradet. Each of the connections to the devices for receiving and transmitting input and output signals, respectively, may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Orientated Systems Transport bus), or any other bus configuration; or by a wireless connection. One skilled in the art will appreciate that the above-mentioned computer may be constituted by the storage unit 401 and that the above-mentioned memory may be constituted by the memory unit 402. In general, control systems in modern vehicles consist of a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units. (ECUs), or controllers, and various components located on the vehicle. Such a control system can comprise a large number of control units, and the responsibility for a specific function can be divided into more than one control unit. Vehicles of the type shown thus often comprise considerably more control units than what is shown in Figure 4, which is an option for those skilled in the art.

Foreliggande uppfinning är i den visade utforingsformen implementerad i styrenheten 400. Uppfinningen kan dock Oven implementeras helt eller delvis i en eller flera andra vid fordonet redan befintliga styrenheter eller i nagon for foreliggande uppfinning dedikerad styrenhet. In the embodiment shown, the present invention is implemented in the control unit 400. However, the invention can also be implemented in whole or in part in one or more other control units already existing with the vehicle or in a control unit dedicated to the present invention.

Enligt en aspekt av foreliggande uppfinning tillhandahalls ett system fOr reglering av en faktisk hastighet vaa fOr ett fordon, dOr systemet Or anordnat att kunna utfora regleringen baserat pa en manuell styrning av den faktiska hastigheten vaa eller baserat pa en automatisk styrning av den faktiska hastigheten vaa. Enligt foreliggande uppfinning Or en automatstyrningsenhet 511 anordnad att tillata att den automatiska styrningen aktivt kan styra den faktiska hastigheten vaa till ett hog-re varde an en manuellstyrningsenhet 512 är anordnad att tillata den manuella styrningen att aktivt styra den faktiska hastigheten vaa till. According to one aspect of the present invention, there is provided a system for controlling an actual speed va for a vehicle, the system being arranged to be able to perform the control based on a manual control of the actual speed va or based on an automatic control of the actual speed va. According to the present invention, an automatic control unit 511 arranged to allow the automatic control to actively control the actual speed va to a higher value than a manual control unit 512 is arranged to allow the manual control to actively control the actual speed va to.

Enligt en utforingsform av uppfinningen Or manuellstyrningsenheten 512 anordnad att farhindra en forare att aktivt overskrida en forutbestOmd hastighet Vsp eed_limiterman fOr en hastighetsbegransare vid manuell styrning cid den manuella styrningen utnyttjas for att styra den faktiska 537 8 hastigheten vaa. Dessutom är automatstyrningsenheten 511 anordnad att forhindra den automatiska styrningen av den faktiska hastighet vaa att aktivt averskrida en forutbestdmd hastighet Vspeed_limiter_aut for en hastighetsbegrdnsare vid automatisk styrning. Sdsom beskrivs ovan Or hdr denna faruthestdmda hastighet Vsp eed_limiter_aut vid automatisk styrning hogre On den forutbestdmda hastigheten v speed_limiter _man Vj d manuell styrning, men Or ldgre an eller lika med en av en myndighet faststdlld maximal hastighetsgrdns v leg al man; < vspeec /limiter _man < V speed_limiter_aut — Vie g al_max • Fackmannen inser att systemet ovan kan modifieras enligt de olika utforingsformerna av forfarandet enligt uppfinningen. Dessutom avser uppfinningen enligt en aspekt ett motorfordon 500, vilket schematiskt visas i figur 5. Motorfordonet 500 kan till exempel vara en personbil, en lastbil eller en buss, innefattande en motor 501, vilken via en drivlina 502 driver drivhjul 503, 504, ett avgasbehandlingssystem 505, och dtminstone ett system for reglering av en faktisk hastighet vaa enligt uppfinningen. Sasom beskrivs ovan kan systemet enligt uppfinningen implementeras i en styrenhet 510, vilken motsvarar ovan ndmnda styrenhet 400 i figur 4, och vilken är anordnad att styra funktionen hos motorn 501. Styrenheten 510 innefattar alltsd de ovan beskrivna automatstyrnings- 511 och manuellstyrningsenheterna 512, ddr automatstyrningsenheten 511 kan tilldta den automatiska styrningen att aktivt styra den faktiska hastigheten vaa till ett hogre vdrde On manuellstyrningsenheten 512 tillater den manuella styrningen att aktivt styra den faktiska hastigheten vaa till. According to one embodiment of the invention, the manual control unit 512 is arranged to prevent a driver from actively exceeding a predetermined speed Vsp eed_limiterman for a speed limiter in manual control and the manual control is used to control the actual speed. In addition, the automatic control unit 511 is arranged to prevent the automatic control of the actual speed from actively exceeding a predetermined speed Vspeed_limiter_aut for a speed limiter in automatic control. As described above Or hdr this speed-determined speed Vsp eed_limiter_aut in automatic control higher On the predetermined speed v speed_limiter _man Vj d manual control, but Or less than or equal to a maximum speed limit set by an authority v leg al man; <vspeec / limiter _man <V speed_limiter_aut - Vie g al_max • Those skilled in the art will appreciate that the above system can be modified according to the various embodiments of the method of the invention. In addition, according to one aspect, the invention relates to a motor vehicle 500, which is schematically shown in Figure 5. The motor vehicle 500 may be, for example, a passenger car, a truck or a bus, comprising an engine 501, which drives a drive wheel 503, 504, an exhaust gas treatment system via a driveline 502. 505, and at least one system for controlling an actual speed is according to the invention. As described above, the system according to the invention can be implemented in a control unit 510, which corresponds to the above-mentioned control unit 400 in Figure 4, and which is arranged to control the function of the motor 501. The control unit 510 thus comprises the above-described automatic control 511 and manual control units 512. 511 can allow the automatic control to actively control the actual speed vaa to a higher value On the manual control unit 512 allows the manual control to actively control the actual speed vaa to.

Fareliggande uppfinning Or inte begrdnsad till de ovan beskrivna utforingsformerna av uppfinningen utan avser och 26 537 8 innefattar alla utforingsformer mom de bifogade sialvstandiga kravens skyddsomfang. 27 The present invention is not limited to the above-described embodiments of the invention but relates to and includes all embodiments within the scope of the appended independent claims. 27

Claims (2)

537 8 Patentkrav 1. Forfarande for reglering av en faktisk hastighet v„t for ett fordon, dar namnda reglering kan utforas baserat pa en manuell styrning av namnda faktiska hastighet vact eller baserat pa en automatisk styrning av namnda faktiska hastighet vact; dar namnda automatiska styrning tillats att aktivt styra namnda faktiska hastighet vact till ett hogre varde an namnda manuella styrning tilláts att aktivt styra namnda faktiska hastighet vact till, dar - en fbrare av namnda fordon vid namnda manuella styrning av namnda faktiska hastighet vact är farhindrad att aktivt overskrida en forutbestamd hastighet Vspeed_limiter_man for en hastighetsbegransare vid manuell styrning; och - namnda automatiska styrning av namnda faktiska hastighet vact är forhindrad att aktivt overskrida en fbrutbestamd hastighet Vspeed_limiter_aut for en hastighetsbegransare vid automatisk styrning, dar namnda forutbestamda hastighet Vspeed_limiter_aut vid automatisk styrning är hogre an namnda forutbestamda hastighet speed _limiter _man vid manuell styrning, kannetecknad av att namnda fOrutbestamda hastighet Vspeed_limiter_aut vid automatisk styrning är lagre an eller lika med en av en myndighet faststalld maximal hastighetsgrans Viegal_max ; Vspeed_limiter_man < Vspeed_limiter_aut Viegal_max samt att namnda forutbestamda hastighet Vspeed_limiter_man vid manuell styrning är relaterad till en kormod for namnda fordon. 2. F5rfarande enligt patentkrav 1, varvid namnda av namnda myndighet faststallda maximala hastighetsgrans Viegal_max är relaterad till en fordonstyp. 28 537 8 3. Forfarande enligt patentkrav 1, varvid namnda av namnda myndighet faststallda maximala hastighetsgrans Vie g al_max är relaterad till en hastighetsbegransning for ett vagavsnitt. 4. Ferfarande enligt nagot av patentkrav 1-3, varvid atminstone en av namnda forutbestamda hastighet V speed_limiter _man vid manuell styrning och namnda forutbestamda hastighet speed_limiter_aut vid automatisk styrning är relaterad till ett specifikt fordon. 5. Forfarande enligt nagot av patentkrav 1-4, varvid namnda forutbestamda hastighet V sp eed_timiter _man vid manuell styrning och namnda forutbestamda hastighet V speed_limiter _aut vid automatisk styrning är opaverkbara for en forare av namnda fordon. 6. Forfarande enligt nagot av patentkrav 1-5, varvid en hogsta tillaten hastighet vmax for namnda faktiska hastighet V act är lika med namnda hastighetsgrans for automatisk styrning V speed_limiter_aut ; Vmax = V speea_limiter_aut ; och namnda hogsta tillatna hastighet vmax utnyttjas av en farthallare vid namnda reglering av namnda faktiska hastighet vact. 7. Forfarande enligt nagot av patentkrav 1-6, varvid namnda automatiska styrning utnyttjar en farthallare, vilken infer en uppforsbacke hejer namnda faktiska hastighet vact jamfort med en faktisk hastighet vact vilken hade resulterat av namnda manuella styrning genom att, forutom utnyttjande av faktiska hastigheter vact vilka kan utnyttjas vid namnda manuella styrning, Oven utnyttja faktiska hastigheter vact mom ett hastighetsintervall begransat av namnda forutbestamda hastighet vid manuell styrning V sp eed_limiter _man och namnda 29 537 8 forutbestamda hastighet vid automatisk styrning vspeed_limiter_aut ; Vspeed_limiter_man < VactVspeed_limiter_aut • 8. Forfarande enligt patentkrav 7, varvid namnda hajda faktiska hastighet vact gor att en nedvaxling kan undvikas eller senarelaggas under namnda uppforsbacke. 9. Forfarande enligt nagot av patentkrav 1-6, varvid namnda automatiska styrning utnyttjar en farthallare, vilken infOr ett vagavsnitt dar frihjulning kan bedomas vara tillampbar hojer namnda faktiska hastighet vact jamfort med en faktisk hastighet vact vilken hade resulterat av namnda manuella styrning genom att, forutom utnyttjande av faktiska hastigheter vact vilka kan utnyttjas vid namnda manuella styrning, aven utnyttja faktiska hastigheter vact mom ett hastighetsintervall begransat av namnda forutbestamda hastighet vid manuell styrning vspeed_limiter_man OCh r111111da forutbestamda hastighet vid automatisk styrning Vspeed_limiter_aut ; Vspeed_limiter_man < VactVspeed_limiter_aut 10. Forfarande enligt patentkrav 9, varvid namnda hojda faktiska hastighet Pact gor att namnda frihjulning kan mojliggoras och/eller forlangas under namnda vagavsnitt. 11. Forfarande enligt nagot av patentkrav 1-6, varvid namnda automatiska styrning utnyttjar en farthallare, vilken infor ett vagavsnitt dar en hogre vaxel an en innan vagavsnittet anvand vaxel kan bedomas vara tillampbar hojer namnda faktiska hastighet vact jamfort med en faktisk hastighet Vact vilken hade result erat av namnda manuella styrning genom att, forutom utnyttjande av faktiska hastigheter vact vilka kan utnyttjas vid namnda manuella styrning, aven utnyttja faktiska hastigheter vact mom ett hastighetsintervall begransat av 537 8 namnda forutbestamda hastighet vid manuell styrning speed_limiter_man och namnda foru tbestamda hastighet vid automatisk styrning v speed_limiter_aut ; Vspeediimiter_man < Vact Vspeediimiter_aut • 12. Forfarande enligt patentkrav 11, varvid namnda hojda faktiska hastighet vact gor att en uppvaxling kan moj1iggoras under namnda vagavsnitt. 13. Forfarande enligt nAgot av patentkrav 1-12, varvid den aktiva styrningen av namnda manuellt styrda faktiska hastighet vact baseras pa Atminstone en i gruppen av: - en set-hastighet vset for en farthallare i namnda fordon; och 1. en inmatning fran en forare erhallen av en gaspedal; 2. en inmatning fran en fOrare erhal1en av en handgasanordning; 3. ett av en forare direkt begart motormoment; och 4. ett av en forare indirekt begart motormoment. 14. FOrfarande enligt nAgot av patentkrav 1-6, varvid den aktiva styrningen av namnda automatiskt styrda faktiska hastighet vact baseras pA ett av en farthAllare begart motormoment. 15. Forfarande enligt nAgot av patentkrav 1-14, varvid namnda automatiska styrning innefattar utnyttjande av en farthallare, dar namnda farthallare är Atminstone en i gruppen av: 1. en ekonomisk farthallare; 2. en farthAllare, vilken utnyttjar topografidata for att erhalla information for ett framforliggande vagavsnitt; 3. en farthallare, vilken utnyttjar en radar for att erhalla information om framforliggande fordon; 4. en farthallare, vilken utnyttjar en kamera for att erhalla information om framfarliggande fordon; - en kOrbarhetsfOrbattrande farthallare; 31 537 8 5. en farthAllare vilken utnyttjar frihjulning; och 6. en farthAllare anpassad for omkorning identifierad genom en inmatning av en forare av ndmnda fordon. 16. Datorprogram innefattande programkod, vilket nar ndmnda programkod exekveras i en dator Astadkommer att namnda dator utfOr forfarandet enligt nAgot av patentkrav 1-15. 17. Datorprogramprodukt innefattande ett datorlasbart medium och ett datorprogram enligt patentkrav 16, varvid namnda datorprogram är innefattat i namnda datorldsbara medium. 18. System for reglering av en faktisk hastighet v„t for ett fordon, dar namnda system är anordnat att kunna utfora namnda reglering baserat pA en manuell styrning av ndmnda faktiska hastighet v„t eller baserat pA en automatisk styrning av namnda faktiska hastighet vact; kannetecknat av en automatstyrningsenhet (511) anordnad att tillAta att namnda automatiska styrning aktivt kan styra namnda faktiska hastighet vact till ett hogre varde an en manuellstyrningsenhet (512) är anordnad att ti11Ata namnda manuella styrning att aktivt styra ndmnda faktiska hastighet vact till,A method of controlling an actual speed wet for a vehicle, wherein said controlling may be performed based on a manual control of said actual speed guard or based on an automatic control of said actual speed guard; where said automatic steering is allowed to actively steer said actual speed vact to a higher value than said manual steering is permitted to actively steer said actual speed vact to, where - a driver of said vehicle in said manual steering of said actual speed vact is prevented from actively exceed a predetermined speed Vspeed_limiter_man for a speed limiter in manual control; and - said automatic control of said actual speed vact is prevented from actively exceeding a predetermined speed Vspeed_limiter_aut for a speed limiter in automatic control, where said predetermined speed Vspeed_limiter_aut in automatic control is higher than said predetermined speed at manual speed can maneck speed _ said predetermined speed Vspeed_limiter_aut in automatic control is lower than or equal to a maximum speed limit set by an authority Viegal_max; Vspeed_limiter_man <Vspeed_limiter_aut Viegal_max and that the said predetermined speed Vspeed_limiter_man in manual steering is related to a chore mode for the said vehicle. A method according to claim 1, wherein said maximum speed limit determined by said authority Viegal_max is related to a vehicle type. A method according to claim 1, wherein said maximum speed limit determined by said authority Vie g al_max is related to a speed limit for a wagon section. A method according to any one of claims 1-3, wherein at least one of said predetermined speed V speed_limiter_man in manual steering and said predetermined speed_limiter_aut in automatic steering is related to a specific vehicle. A method according to any one of claims 1-4, wherein said predetermined speed V speed_limiter _man in manual steering and said predetermined speed V speed_limiter _aut in automatic steering are ineffective for a driver of said vehicle. A method according to any one of claims 1-5, wherein a maximum permissible speed vmax for said actual speed V act is equal to said speed limit for automatic control V speed_limiter_aut; Vmax = V speea_limiter_aut; and said maximum allowable speed vmax is utilized by a cruise control in said control of said actual speed vact. A method according to any one of claims 1-6, wherein said automatic control utilizes a cruise control, which infer an uphill slope cheers said actual speed vact compared to an actual speed vact which had resulted from said manual control by, in addition to utilizing actual speeds vact which can be utilized in said manual control, In addition utilizing actual speeds vact mom a speed range limited by said predetermined speed in manual control V sp eed_limiter _man and said 29 537 8 predetermined speed in automatic control vspeed_limiter_aut; Vspeed_limiter_man <VactVspeed_limiter_aut • A method according to claim 7, wherein said high actual speed ensures that a downshift can be avoided or delayed below said uphill slope. A method according to any one of claims 1-6, wherein said automatic steering utilizes a cruise control, which for a wagon section where freewheeling can be judged to be applicable raises said actual speed vact compared to an actual speed vact which would have resulted from said manual steering by, in addition to utilizing actual speeds vact which can be utilized in said manual control, also utilizing actual speeds vact mom a speed range limited by said predetermined speed in manual control vspeed_limiter_man AND r111111da predetermined speed in automatic control Vspeed_limiter_aut; Vspeed_limiter_man <VactVspeed_limiter_aut 10. A method according to claim 9, wherein said elevated actual speed Pact enables said freewheeling to be enabled and / or required during said wagon section. A method according to any one of claims 1-6, wherein said automatic control uses a cruise control, which in front of a wagon section where a higher gear than a gear used before the wagon section can be judged to be applicable, said actual speed vact compared with an actual speed Vact which had results from said manual control by, in addition to utilizing actual speeds vact which can be utilized in said manual steering, also utilizing actual speeds vact mom a speed range limited by 537 8 said predetermined speed in manual steering speed_limiter_man and said predetermined speed in automatic steering v speed_limiter_aut; Vspeediimiter_man <Vact Vspeediimiter_aut • A method according to claim 11, wherein said elevated actual speed makes it possible for an upshift to be possible during said wave section. A method according to any one of claims 1-12, wherein the active control of said manually controlled actual speed guard is based on at least one in the group of: - a set speed set for a cruise control in said vehicle; and 1. an input from a driver obtained by an accelerator pedal; 2. an input from a driver obtained by a hand gas device; 3. one of a driver directly requested engine torque; and 4. an engine torque indirectly requested by a driver. A method according to any one of claims 1-6, wherein the active control of said automatically controlled actual speed guard is based on an engine torque requested by a cruise control. A method according to any one of claims 1-14, wherein said automatic control comprises the use of a cruise control, said cruise control being at least one in the group of: 1. an economic cruise control; A cruise control, which uses topography data to obtain information for a forward section of road; 3. a cruise control, which uses a radar to obtain information about vehicles in front; 4. a cruise control, which uses a camera to obtain information about vehicles approaching; - a Vocability Improving Cruiser; 31 537 8 5. a cruise control which uses freewheeling; and 6. a cruise control adapted for rerouting identified by an input of a driver of said vehicle. A computer program comprising program code, which when said program code is executed in a computer ensures that said computer performs the procedure according to any one of claims 1-15. A computer program product comprising a computer readable medium and a computer program according to claim 16, wherein said computer program is included in said computer readable medium. An actual speed control system for a vehicle, wherein said system is arranged to perform said control based on a manual control of said actual speed w or based on an automatic control of said actual speed guard; characterized by an automatic control unit (511) arranged to allow said automatic control to actively control said actual speed guard to a higher value than a manual control unit (512) arranged to allow said manual control to actively control said actual speed guard to,
1. namnda manuellstyrningsenhet (512) är anordnad att forhindra en forare av ndmnda fordon att vid namnda manuella styrning av namnda faktiska hastighet v„t att aktivt overskrida en forutbestamd hastighet vspeed_limiterinan for en hastighetsbegrdnsare vid manuell styrning; ochSaid manual control unit (512) is arranged to prevent a driver of said vehicle from actively in said manual control of said actual speed exceeding a predetermined speed vspeed_limiterinan for a speed limiter in manual control; and
2. namnda automatstyrningsenhet är anordnad att fOrhindra namnda automatiska styrning av namnda faktiska hastighet vact att aktivt overskrida en forutbestamd hastighet Vsp eed_limiter_aut for en hastighetsbegransare vid automatisk styrning, ddr namnda forutbestamda hastighet Vspeed_limiter_aut vid automatisk 32 537 8 styrning är hogre an namnda forutbestamda hastighet V speed_limiter_man vid manuell styrning, men dr lagre an eller lika med en av en myndighet faststalld maximal hastighetsgrans < Vlegal_max; Vspeed_limiter_man < Vspeed_limiterV_aut — legal_max samt att namnda manuellstyrningsenhet är anpassad att relatera den forutbestamda hastighet Vspeed_limiter_man vid manuell styrning till en kormod for namnda fordon. 33 • Vact_invention_uphill Vact...priar.art V [km/h] Vspeed_limiter,aut Vspeed_limiter,man. "Nos, Nedvaxli ngprior_art21r t[s] Vaxel 11 prior art VaXel 1 2pnor art2. said automatic control unit is arranged to prevent said automatic control of said actual speed vact from actively exceeding a predetermined speed Vsp eed_limiter_aut for a speed limiter in automatic control, where said predetermined speed Vspeed_limiter_aut at automatic speed and specified speed is specified. in the case of manual control, but where the bearing is at or equal to a maximum speed limit set by an authority <Vlegal_max; Vspeed_limiter_man <Vspeed_limiterV_aut - legal_max and that the said manual control unit is adapted to relate the predetermined speed Vspeed_limiter_man in manual control to a driving mode for the said vehicle. 33 • Vact_invention_uphill Vact ... priar.art V [km / h] Vspeed_limiter, aut Vspeed_limiter, man. "Nos, Nedvaxli ngprior_art21r t [s] Vaxel 11 prior art VaXel 1 2pnor art
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KR1020157030271A KR101728084B1 (ko) 2013-03-21 2014-02-20 차량의 실제 속도 제어 방법
PCT/SE2014/050207 WO2014148973A1 (en) 2013-03-21 2014-02-20 Method for controlling an actual speed of a vehicle
BR112015020499A BR112015020499A2 (pt) 2013-03-21 2014-02-20 método para controlar a velocidade real de um veículo
US14/771,397 US9637124B2 (en) 2013-03-21 2014-02-20 Method for controlling an actual speed of a vehicle
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SE1550744A1 (sv) * 2015-06-08 2016-12-09 Scania Cv Ab A method for controlling the actual speed of a motor vehicle
US20170291605A1 (en) * 2016-04-12 2017-10-12 GM Global Technology Operations LLC Optimized fuel economy during cruise control using topography data
DE102016010062A1 (de) * 2016-08-18 2018-02-22 Man Truck & Bus Ag Technology for longitudinal guidance in a vehicle body
DE102017213629A1 (de) * 2017-08-07 2019-02-07 Robert Bosch Gmbh Driver assistance system for assisting an overtaking process in motor vehicles

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JP2002161776A (ja) * 2000-09-18 2002-06-07 Fuji Heavy Ind Ltd Work vehicle
JP4615899B2 (ja) * 2004-06-07 2011-01-19 日産自動車株式会社 車両用旋回走行制御装置
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