WO2013189664A1

WO2013189664A1 - Method and device for traveling a route with a specified desired average energy consumption

Info

Publication number: WO2013189664A1
Application number: PCT/EP2013/060002
Authority: WO
Inventors: Uta Fischer; Udo Schulz; Juergen Biester
Original assignee: Robert Bosch Gmbh
Priority date: 2012-06-19
Filing date: 2013-05-15
Publication date: 2013-12-27
Also published as: DE102012210317A1

Abstract

The invention relates to a method for specifying a suggestion for target speeds on route segments to be traveled by a motor vehicle (1), comprising the following steps: providing (S7) a specification about a desired energy consumption for a route of the motor vehicle (1); providing route segment information for the route segments of the route; and determining (S8) a speed profile that specifies the target speeds for each route segment in accordance with the route segment information and in accordance with the desired energy consumption, wherein the target speeds for each route segment are set in such a way that the energy consumption for the route corresponds to the desired energy consumption and does not exceed or fall below a specified speed limit.

Description

description

title

Method and device for driving a route

with a given desired average energy consumption

Technical area

The present invention relates to motor vehicles, more particularly to methods of driving a motor vehicle along a route with a predetermined restriction of power consumption.

State of the art

In view of the rising energy costs and the decreasing energy availability, it is desirable for a driver of a motor vehicle to obtain an estimate of the energy consumption at the beginning of a journey and, in particular, to influence the energy consumption required for driving a driving route.

The document EP 1 888 900 relates to a consumption regulator, which regulates the situation to a desired fuel consumption. Based on driving resistances such as rolling resistance, air resistance, acceleration resistance, gradient resistance and the specific fuel consumption of the motor vehicle, a vehicle speed which is unforeseeable for the driver and which corresponds to the desired consumption is established. However, this may result in an uphill or in an increased headwind that the speed leads below a normal speed for the traveled section and subsequent vehicles are obstructed. The publication DE 19615236 relates to a running averaging of current fuel consumption values during a previous route and an introduction of consumption-reducing measures when exceeding a predetermined limit.

Document DE 10 2008 041 617 A1 discloses a method for providing indications for optimized fuel use in a motor vehicle. For this purpose, usage-dependent parameters are evaluated during ongoing vehicle operation. Index values are determined from the parameters during ongoing vehicle operation using a predetermined algorithm. Based on one or more index values, indications of optimized fuel use are issued. The output is preferably performed only on explicit request of the driver or at predetermined times.

WO 00/007150 A1 discloses a method and a system for indicating to a driver of a motor vehicle information about his driving style, wherein variables can be determined which indicate to what extent the driving style of the driver deviates from a reference driving style. Appropriate recommendations will be made to the driver.

Disclosure of the invention

According to the invention, a method for specifying a proposed target speeds on sections to be traveled according to claim 1 and the device, the motor vehicle, the computer program and the computer program product according to the independent claims are provided.

Further advantageous embodiments of the present invention are specified in the dependent claims.

According to a first aspect, a method is provided for specifying a proposed target speeds on sections, comprising the following steps: Providing an indication of a desired energy consumption for a driving route of the motor vehicle;

Providing route section information for the route sections of the route; and

Determining a speed profile indicative of the target speeds for each link depending on the link information and the desired energy consumption, the target speeds for each link being determined so that the energy consumption over the route is the desired energy consumption and does not exceed a predetermined speed limit - or falls below.

An idea of the above method is that for each section of the route to be traveled, a target speed can be set, so that a previously provided desired energy consumption, i. the energy required to drive the motor vehicle is not exceeded. The permissible or possible maximum speeds and the desired minimum speeds on the sections can be taken into account. A speed profile is provided which indicates target speeds which, if maintained, result in energy consumption equal to the desired energy consumption over the entire driving distance. As an alternative to the speed profile, a corresponding indication, which indicates the course of the drive torques to be provided by a drive motor of the motor vehicle over the drive route, can be provided, since this determines the speed of the motor vehicle in conjunction with the track section ratios.

In this way it is possible - in contrast to the prior art - to drive through the route quickly, in particular, a drop in vehicle speed below a lower speed limit, which could lead to disability of subsequent vehicles, and / or exceeding an upper speed limit, which violates a speed limit, can be avoided. Thus, a driver of a motor vehicle can also travel routes with variable routes, such as combinations of sections with different wind exposure, different traffic volumes and the like, take into account that the desired energy consumption is achieved while still ensuring a vehicle speed in a certain speed range for each section is guaranteed.

Furthermore, the determination of a speed profile can be carried out by means of an optimization method, wherein the target speeds for the road sections in the direction of travel of the opposite direction are determined.

It can be provided that the desired energy consumption is specified by user input as energy consumption over the route or as average energy consumption for a route unit, wherein the desired energy consumption is specified by a user input as energy consumption over the route or as average energy consumption for a route unit.

Furthermore, the user input can be queried for a specification of a minimum energy consumption and a maximum energy consumption.

According to one embodiment, the desired speeds of the speed profile of the route sections can be at least partially output to a driver of the motor vehicle.

In particular, the route section information may include information from which a minimum speed for the relevant route section with which the vehicle should at least move, and / or a maximum speed for the relevant route section, which may not be exceeded, can be determined.

It can be provided that the desired speeds of the speed profile are respectively determined as a speed between the minimum speed for the relevant track sections and the maximum speed for the relevant track sections, wherein the target speed for each track section is assigned a track section energy consumption, and after determining all desired speeds the total energy consumption is determined as the sum of the road segment energy consumption.

Furthermore, the target speeds can be provided as a default for a vehicle speed control.

According to a further aspect, an apparatus for specifying a proposed target speeds on sections of track is provided, wherein the device is designed to

to provide an indication of a desired energy consumption for a route of the motor vehicle;

To provide link information for the route sections of the route; and

to determine a speed profile which, depending on the link information and depending on the desired energy consumption, indicates the target speeds for each link, the target speeds for each link being determined such that the energy consumption over the route corresponds to the desired energy consumption and a preset speed limit not above or below.

According to another aspect, there is provided a system comprising:

an input / output device for providing an indication of a

Desired energy consumption for a route of the motor vehicle;

a map memory for providing route section information for the route sections of the route; and

a control unit for determining a speed profile which, depending on the route section information and depending on the desired energy consumption, indicates the target speeds for each route section, wherein the target speeds for each route section are determined so that the energy consumption over the route corresponds to the desired energy consumption and a predetermined one Speed limit not exceeded or fallen below.

According to a further aspect, a computer program with program code means is provided to perform all the steps of the above method, when the computer program is executed on a computer or the above device.

In another aspect, a computer program product is provided that includes program code stored on a computer-readable medium and that, when executed on a data processing device, performs the above method.

Brief description of the drawings

Preferred embodiments of the present invention will be explained in more detail with reference to the accompanying drawings. Show it:

Figure 1 is a schematic representation of an apparatus for operating a motor vehicle with a desired average energy consumption; and

FIG. 2 shows a flow chart for illustrating a method for driving a motor vehicle along a route with a desired average energy consumption.

Description of embodiments

FIG. 1 shows a motor vehicle 1 with a device 2 for assisting the driver to drive the motor vehicle 1 along a predetermined or predefinable driving route with a desired average energy consumption. The energy consumption indicates the energy input required to drive the motor vehicle 2, e.g. in the form of electrical energy in electric vehicles, in the form of an amount of fuel in vehicles with internal combustion engine or the like. The device 2 can be designed as part of a driver assistance system, as part of an engine control unit, separately or together with another system implemented in the motor vehicle 1.

The device 2 comprises a control unit 3, an input / output device 4 in the cockpit of the motor vehicle 1 and a card memory 5. In the card memory 5, a route map in the form of individual sections is stored in a suitable manner. The sections of the route map have a format with which a route planning can be made. The track sections are each a Topologie- information, such as information about a slope or a slope, a speed information on a maximum allowable or maximum possible speed (curvy sections), traffic volume information about expected vehicle traffic on the route section, a Weather information about expected precipitation or wind conditions and associated with other information that can affect the maximum mobile speed and / or the minimum desirable speed on the relevant link.

The input / output device 4 may be configured to indicate a power consumption range to indicate a minimum or maximum power consumption when driving a traveling distance, and may further allow the driver within this power consumption range to indicate a power consumption corresponding to the power that the power supply unit has Motor vehicle 1 should consume while driving through the specific route overall. By means of an input option, the driver is provided with a possibility of determining a desired energy consumption within the predetermined energy consumption range, whereby at the same time the speeds to be traveled on the individual route segments should also be determined. Energy consumption can also be expressed in terms of average energy consumption per unit of distance.

The control unit 3 can furthermore be connected to an engine control unit 6 in order to limit the maximum drive torque to be provided by the drive engine or to adjust the speed in accordance with the selected desired (average) energy consumption during a cruise control.

In conjunction with the flowchart of Figure 2, the method for providing an indication of a course of a target speed or a desired drive torque over sections of the route to be traveled, so that the desired (average) energy consumption is met, illustrated.

In step S1 is first queried whether the device 2 is a driving distance, z. B. via an input was specified. If this is the case (alternative: yes), the method is continued with step S2, otherwise (alternative: no) is returned to step S1 and waits for the input of the driving distance to be traveled. The corresponding input can be made directly by means of a navigation system with an input mask known for a navigation system or also by querying a user's schedule to specify the destinations to which a route is determined in accordance with a route planning algorithm executed in the control unit 3. The route is provided as a chain of sections.

In the following step S2, the individual route sections are analyzed and the route section information associated with the route sections, which can specify or influence a maximum speed on the route sections, evaluated to specify a permissible for the motor vehicle 1 on the relevant route section or possible maximum speed. The maximum speed is determined by the track topology and other environmental conditions, such as wind conditions, precipitation conditions, and the like.

The maximum speed may also be predetermined by traffic signs along the route and is allocated and stored in the map memory 5 to each route section. Deviating from this, this maximum speed curve, which can be erratic over the sections, is adjusted by realistic speed changes in a traffic sign change and safe cornering speeds. If there is traffic information that reduces the maximum speed due to traffic obstruction, such as congestion, heavy traffic and the like, these are also taken into account when forming the maximum speed curve. Furthermore, in step S2, a desired minimum speed can also be derived from the information associated with the route section for the speed to be traveled, if this is not specified. The minimum speed specifies at which speed the motor vehicle 1 - assuming a free route - should at least drive in order not to hinder other vehicles, for example. For example, the minimum speed may be set relative to the previously determined maximum speed, for example, 80% of the maximum speed.

If the maximum speed for each route section and the desired minimum speed for each route section are determined, the drive torques of the drive motor of the motor vehicle 1 required for driving the route at the maximum speed or the desired minimum speed are determined in step S3.

In step S4, the drive torques required for driving on the route at the maximum speed or the desired minimum speed are corresponding energy consumptions, ie. H. Maximum energy consumption and minimum energy consumption, eg. B. in the form of a fuel consumption, assigned.

The maximum energy consumption and the minimum energy consumption are added in each case in step S5 over the entire driving distance. In total, there is a maximum or minimum total energy consumption for driving on the route. When determining the maximum or minimum total energy consumption over the entire route from the consumption-relevant environment information and vehicle parameters, transitions between the maximum speeds and the minimum speeds for successive sections of the route should be taken into account correspondingly with acceleration phases and deceleration phases. For this purpose, a knowledge of the driver type is necessary, indicating an acceleration and braking behavior in certain types of sections and traffic situations. This makes it possible to better estimate the Antnebsmomentenverlauf in the transitions between the sections, as they affect the energy consumption significantly. The maximum and minimum total energy consumption can be displayed to the driver via the input / output device 4 in a suitable manner

(Step S6). In step S7, the driver can specify from the predetermined energy consumption range between the maximum total energy consumption and the desired minimum energy consumption a desired energy consumption that indicates the total energy that the motor vehicle 1 should consume when driving on the planned driving route. Alternatively, a desired average energy consumption can be specified as the desired energy consumption, which is the

Desired energy consumption in conjunction with the length of the driving route indicates.

If the driver has specified a desired energy consumption, a velocity profile for the route sections of the driving route to be traveled is determined in step S8. The determination of the speed profile can be carried out by means of a suitable optimization method, whereby the speed profile is calculated by recalculation based on the destination of the planned route. Essentially, the optimization method attempts to approximate the speed profile associated with the desired energy consumption over the route sections to the maximum speed in the corresponding route sections.

The speed range between the maximum speed and the minimum speed determines an optimization space for the optimization method. The optimization method calculates starting from the travel destination through the route sections back to the current location of the motor vehicle. 1 The reason for this lies in the necessary prioritization of consumption-reducing measures and the related degrees of freedom in the motor vehicle 1. For example, energy storage such. B. Batteries, are discharged ahead of time to be receptive to a later available Rekuperationsenergie (in hybrid or electric vehicles). Fuel consumption is determined using the associated consumption-relevant environmental information, such as route height profile, curves, weather conditions and the like, vehicle parameters such as weight, Custom maps and the like and driver model (driver type recognition and the like) are taken into account.

The speed profile determined in step S8 can be displayed to the driver in step S9 via the input / output device 4, so that it can follow this if the desired energy consumption is to be maintained. The display is made so that target speeds are displayed for each section in a suitable manner. From the velocity profile thus obtained can continue to

Antnebsmomentenverlauf be determined, in particular taking into account the consumption-relevant environmental information of the sections of the planned route and vehicle parameters and the like. In hybrid vehicles, nominal torques for the individual drive units can be derived from the recalculated drive torque.

Depending on individual target speeds, which are provided to the driver in the form of the speed profile, the driver can see via the input / output device 4 a gear recommendation, for example on a map, which is displayed on the input / output device 4, or only as a driving recommendation , are displayed.

It may further be provided that in step S9 the specification of the speed profile serves as default for a cruise control, which is implemented in the engine control unit 6, so that the target speed of the cruise control is set according to the target speed of the speed profile for each route section. Thus, it can be achieved that the vehicle speed with activated cruise control follows the speed profile as long as there is no driver interaction. Actuation of a brake or an accelerator pedal may result in termination of the cruise control.

According to an alternative embodiment, the input of the desired energy consumption may be performed before a minimum energy consumption and a maximum energy consumption have been determined. Preferably, the input would give the desired energy consumption then as average energy consumption per unit of track.

If, compared with the average energy consumption or total energy consumption calculated by the optimization method, a positive difference to the desired average energy consumption or desired energy consumption still results, the optimization process can change the target velocity profile from a slow and / or sluggish driver type to a fast and / or recommend dynamic driver type. For example, the preferences of the driver from a driver model can be taken into account, for example, indicating that the driver desires a fast downhill run and a fast uphill run and specifies the acceleration and deceleration behavior, overtaking behavior and the like. The desired velocity profile will be so long - i. iterative - further modified until the desired average energy consumption is reached in the calculation.

The desired speeds of the speed profile can be recommended to the driver by an indication in the course of the route and additionally controlled by intervention in a speed controller in the engine control unit 6. In particular, in future occurring acceleration operations of the speed controller are the driver for safety reasons in time detailed with the absolute value and the planned change acceleration, speed over the stretch and the duration display so that the driver can intervene in time, for example, by deactivating the cruise control. In addition, the use of driver assistance systems is possible, for example, control the safety distance to vehicles in front and may reduce in case of danger, the speed. Based on the consumption-optimal speed at the respective

Point of the route section, taking into account the speed-relevant environment information, such as the slope, while maintaining the permissible speed, as well as the minimum speed to be traveled, the optimal transmission ratio can be determined. The determination of the velocity profile and the resulting

Drive torque profile can before driving, at the beginning of a trip on a predetermined driving distance or continuously during the driving of the route, so that a continuous update of the speed profile is possible, taking into account the current time real energy consumption.

Claims

claims

1 . Method for specifying a proposed speed for speeds to be traveled by a motor vehicle (1), comprising the following steps:

- Providing an indication of a desired energy consumption for a route of the motor vehicle (1);

Providing route section information for the route sections of the route; and

Determining a speed profile which, depending on the route section information and depending on the desired energy consumption, indicates the target speeds for each route section, wherein the target speeds for each route section are determined such that the energy consumption over the route corresponds to the desired energy consumption and a predetermined speed limit above or below.

2. The method of claim 1, wherein the determination of a speed profile is performed using an optimization method, wherein the target speeds for the sections are set in the direction of travel opposite direction.

3. The method of claim 1 or 2, wherein the desired energy consumption is specified by a user input as energy consumption over the route or as an average energy consumption for a link unit.

4. The method of claim 3, wherein the user input is queried for a default of a minimum energy consumption and a maximum energy consumption. Method according to one of claims 1 to 4, wherein the target speeds of the speed profile of the sections are at least partially issued to a driver of the motor vehicle (1).

Method according to one of claims 1 to 5, wherein the route section information includes information from which a minimum speed for the relevant route section, with which the motor vehicle (1) should at least move, and / or a maximum speed for the relevant route section may not be exceeded or can, can be determined.

A method according to claim 6, wherein the target speeds of the speed profile are respectively determined as a speed between the minimum speed for the respective track sections and the maximum speed for the respective track sections, wherein the target speed for each link section is assigned a link energy consumption and after Determining all desired speeds of the total energy consumption is determined as the sum of the Strebkenabschnittsenergieverbrauchen.

The method of claim 6, wherein the target speeds are provided as a default for cruise control.

Apparatus (2) for specifying a proposed target velocities on linkages, the apparatus being configured to

to provide an indication of a desired energy consumption for a route of the motor vehicle (1);

To provide link information for the route sections of the route; and

to determine a speed profile indicating, depending on the link information and the desired energy consumption, the target speeds for each link, the target speeds for each link being determined such that the energy consumption over the route corresponds to the desired energy consumption and a preset speed limit not above or below.

10. System comprising:

- An input / output device (4) for providing an indication of a desired energy consumption for a route of the motor vehicle;

a map memory (5) for providing route section information for the route sections of the route; and

a control unit (3) for determining a speed profile indicative of the target speeds for each of the links depending on the link information and the desired power consumption, wherein the target speeds for each link are determined such that the power consumption over the route is the desired power consumption corresponds and does not exceed a predetermined speed limit.

1 1. A computer program comprising program code means for carrying out all the steps of the method according to any one of claims 1 to 8 when the computer program is executed on a computer or a device according to claim 9.

A computer program product containing program code stored on a computer-readable medium and which, when executed on a data processing device, performs the method of any one of claims 1 to 8.