WO2019013694A1 - Procédé et système de réglage de vitesse de véhicule - Google Patents

Procédé et système de réglage de vitesse de véhicule Download PDF

Info

Publication number
WO2019013694A1
WO2019013694A1 PCT/SE2018/050754 SE2018050754W WO2019013694A1 WO 2019013694 A1 WO2019013694 A1 WO 2019013694A1 SE 2018050754 W SE2018050754 W SE 2018050754W WO 2019013694 A1 WO2019013694 A1 WO 2019013694A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
speed
trajectory
nearby
constraints
Prior art date
Application number
PCT/SE2018/050754
Other languages
English (en)
Inventor
Björn Johansson
Henrik SVÄRD
Oscar Flärdh
Christoffer NORÉN
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Publication of WO2019013694A1 publication Critical patent/WO2019013694A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the present invention relates to a method for adjusting vehicle speed of a motor vehicle accord ing to claim 1 and to a system for adjusting vehicle speed according to claim 14.
  • the invention further relates to a computer program, a computer program product, and a motor veh icle.
  • a motor vehicle is here intended a vehicle which is powered by an internal combustion engine and/or by an electric motor.
  • the method is intended for use in a heavy motor vehicle such as a truck or a bus.
  • a gap is herein intended a gap between the present vehicle and a nearby vehicle in terms of either distance or time.
  • Modern motor vehicles can furthermore be equ ipped with radar technology to measure a distance to a lead veh icle travelling ahead of the motor vehicle.
  • Some motor veh icles can also be equipped with a control system to automatically maintain a specified gap to the lead veh icle, as long as the speed of the motor vehicle does not exceed a set speed , such as a legal speed limit.
  • a control system is usually referred to as an Adaptive Cruise Control (ACC), a Radar Cru ise Control, or an Autonomous Cru ise Control system.
  • Driving behind a lead vehicle may save fuel due to reduced air resistance, but may also result in that normal fuel saving systems, such as certain fuel-economising cruise controls, cannot be fu lly utilised due to the risk of coming too close to the lead vehicle, regardless of whether the motor vehicle is driven with an activated ACC system or not. Certain fuel saving systems and functions are therefore deactivated when driving behind a lead vehicle.
  • US20140244129 discloses a method for controlling vehicle speed in a motor vehicle having a cru ise control.
  • a speed setpoint used by the cruise control is adapted in order to achieve fuel efficiency, using offsets to take e.g . topography into account.
  • the traffic density in the vicin ity of the vehicle is determined , and the offsets to the speed setpoint are reduced in proportion to the traffic density. In this way, heavy traffic in the vicinity of the vehicle will lead to a reduced possibility of adjusting the speed setpoint to account for a varying road gradient.
  • a method for adjusting veh icle speed of a motor vehicle in which the vehicle speed is controlled using a cruise control is provided .
  • the method comprises:
  • a system for adjusting veh icle speed of a motor vehicle in which the vehicle speed is controlled using a cruise control comprises a control un it configured to:
  • the proposed method and system provide a means of, in the presence of nearby veh icles, adjusting a speed setpoint (also referred to as reference speed) used by the cruise control such that the motor vehicle is fuel efficiently operated taking road gradients into account, while still ensuring that the motor vehicle does not come too close to the nearby vehicle(s) as a result of the adjustment of the speed setpoint.
  • a speed setpoint also referred to as reference speed
  • the traffic acceptable constraints can be set based on an expected future development of the traffic situation , not merely on a present traffic density.
  • the adaptation to nearby traffic can thereby be improved .
  • Even in heavy traffic small departures from the set speed of the cruise control may be permitted in order to e.g . improve fuel efficiency, if th is can be achieved without violating the traffic acceptable constraints.
  • the method and system according to the invention improve the possibility to operate the motor vehicle in accordance with the driver's intentions also in the presence of surrounding vehicles.
  • the method and system may be adapted to simu ltaneously take both a trailing vehicle travelling behind the motor vehicle and a lead vehicle travelling ahead of the motor vehicle into account.
  • Different minimum gap sizes may be defined for trailing vehicles and for lead vehicles.
  • the expected speed trajectory of the at least one nearby vehicle may be estimated on-board the motor vehicle based on predefined assumptions, but it may also be estimated or otherwise determined elsewhere and communicated to the motor vehicle, such as from the nearby vehicle or from a central node.
  • the driver acceptable constraints may define how the vehicle speed may be varied by the cruise control in dependence on road gradient and road curvature in the absence of nearby vehicles. These constraints may typically be set based on input from a driver of the motor vehicle, including e.g . a desired set speed of the cruise control, a maximum and a minimum allowed deviation from the set speed and a selected performance mode, such as an economy mode for min imising fuel consumption , or a power mode for maximising power output. In accordance with the driver acceptable constraints, the actual speed setpoint that the cruise control uses to regulate the vehicle speed may depart from the set speed by an amount that depends on the selected performance mode. The driver acceptable constraints may also be set based on input relating to e.g . speed limits along the road .
  • speed limits may be communicated to a communication unit in the motor veh icle from a central communication node, or included in map data.
  • the set speed of the cruise control may be used as an input parameter when determining the intended speed trajectory, if not included in the driver acceptable constraints.
  • the traffic acceptable constraints may be expressed in terms of distance to be covered by the motor veh icle as a function of time, i.e. by specifying a minimum distance and a maximum distance that may be covered, taking the minimum gap size(s) into account.
  • the intended speed trajectory of the motor veh icle is set so that it satisfies all of said driver acceptable constraints and traffic acceptable constraints.
  • preference may be given to some of the constraints.
  • the system according to the invention may either form part of a cruise control, or be a separate system which may be used in combination with a cruise control.
  • the traffic acceptable constraints include a hard constraint on a minimum forward gap to the lead vehicle, which hard constraint must be satisfied by the intended speed trajectory.
  • the method may e.g . include evaluating whether said hard constraint is satisfied by the intended speed trajectory, and , based on the evaluation , set a status of the intended speed trajectory as allowed or non-allowed .
  • the hard constraint may be given as an in put to a solver, which produces a speed trajectory that satisfies the hard constraint. I n this embodiment, an intended speed trajectory that does not satisfy the hard constraint on the minimum forward gap cannot be set. It is thereby ensured that the motor veh icle cannot come closer to the lead vehicle than the minimum forward gap.
  • the traffic acceptable constraints include a soft constraint on a minimum rearward gap to the trailing vehicle, which soft constraint is allowed to be selectively satisfied by the intended speed trajectory.
  • Th is allows the motor veh icle to keep travelling at e.g . set speed if the trailing vehicle travels much faster than the present vehicle, such as in a situation in which a driver of the trailing vehicle intends to overtake the motor vehicle.
  • the gap may be allowed to fall below the minimum allowable gap instead of increasing the speed of the motor vehicle to prevent the gap from becoming too small.
  • the driver acceptable constraints include a maximum allowable distance deviation from a desired constant set speed trajectory of the motor vehicle.
  • the constant set speed trajectory is the trajectory that the motor veh icle would follow at a constant speed equaling the set speed of the cruise control.
  • the maximum allowable distance deviation may preferably be topography dependent, i.e. determined in dependence on the topography ahead of the motor vehicle.
  • the driver acceptable constraints include a position dependent maximum and/or minimum allowable vehicle speed .
  • a maximum and/or minimum allowable veh icle speed as a function of vehicle position is defined .
  • road gradient along the road ahead of the motor vehicle is taken into account. If set as a hard constraint, the maximum and/or minimum allowable vehicle speed may not be exceeded .
  • the determination of the intended speed trajectory comprises a rule based method and/or an optimization based method .
  • a rule based method is easy to implement and also to understand , maintain and troubleshoot.
  • a rule based method also produces a predictable resu lt.
  • An optimization based method may produce a less pred ictable result, but the result is on the other hand typically better than that from a rule based method .
  • the optimization based method would typically result in a more fuel efficient intended speed trajectory.
  • both rule based and optimization based methods may include simu lations.
  • the determination of the intended speed trajectory includes:
  • the predefined selection criteria are set so as to select the most fuel efficient allowable speed trajectory.
  • the method further comprises determining at least one intended control trajectory associated with the intended speed trajectory, wherein the at least one intended control trajectory is used to control the powertrain of the motor vehicle.
  • the at least one control trajectory may include a torque trajectory, includ ing driving and braking torques to be demanded from the powertrain , and/or a gear selection trajectory defin ing which gear(s) to be selected .
  • the at least one control trajectory can be used to control the powertrain such that the vehicle speed is adjusted based on the intended speed trajectory.
  • the intended speed trajectory and the associated at least one control trajectory are preferably determined simultaneously.
  • determining a current gap to the nearby vehicle comprises measuring the current gap.
  • measuring the current gap can be realised using a radar equ ipment.
  • the motor vehicle may for th is purpose be equ ipped with forward and rearward radar equ ipment configured to sense lead vehicles and trailing vehicles, respectively, and to measure a gap to said vehicles.
  • the radar equ ipment may also be used to detect a nearby vehicle and to calcu late its speed .
  • An alternative to using radar equ ipment is to use optical cameras or light detection and rang ing (LI DAR).
  • the at least one minimum gap size is determined based on at least one of a vehicle speed , a vehicle acceleration , brake action , tyre quality, road conditions, weather, and traffic cond itions.
  • the vehicle speed/acceleration may be an absolute vehicle speed/acceleration of the motor vehicle or a relative speed/acceleration in relation to a nearby vehicle.
  • the invention also relates to a computer program comprising instructions which , when the computer program is executed by a computer, cause the computer to carry out the proposed method and to a computer-readable medium comprising instructions which , when executed by a computer, cause the computer to carry out the proposed method . It will be appreciated that all the embodiments described with reference to the method aspect of the present invention are applicable also for the system aspect of the present invention . That is, the system may be configured to perform any one of the method steps of the above described embod iments.
  • the invention relates to a motor vehicle comprising a system as defined in any one of the above described embodiments.
  • the motor vehicle may be powered by an internal combustion engine and/or by an electric motor.
  • the method and system may be used in a heavy motor veh icle such as a truck or a bus.
  • Fig . 1 shows a motor vehicle according to an embodiment of the invention
  • Fig . 2 is a flow chart illustrating the method according to an embodiment
  • Fig . 3 is a diagram illustrating traffic acceptable constraints for use in a method according to an embodiment of the invention
  • Fig . 4 is a diagram illustrating driver acceptable constraints for use in a method according to an embodiment of the invention
  • Fig . 5 is another diagram illustrating driver acceptable constraints for use in a method accord ing to an embodiment of the invention
  • Fig . 6 schematically shows an electron ic control un it of a system according to an embodiment of the invention .
  • a motor veh icle 1 in which a system 2 according to an embodiment of the invention is provided is schematically shown in fig . 1 .
  • the motor vehicle 1 is travelling on a level road between two nearby vehicles 3, 4, i.e. behind a lead veh icle 3 and ahead of a trailing veh icle 4.
  • a cruise control 5 is used to control vehicle speed of the motor vehicle.
  • the system includes a forward radar equipment 6 and a rear radar equipment 7 adapted to detect and measure a current gap to the lead vehicle 3 and the trailing vehicle 4, respectively.
  • an input is in step S1 received from a driver of the motor vehicle 1 , defin ing a desired set speed of the motor veh icle 1 and a desired performance mode.
  • a driver of the motor vehicle 1 defining a desired set speed of the motor veh icle 1 and a desired performance mode.
  • the input from the driver defines driver acceptable constraints which may, in the absence of surrounding vehicles, be used to calculate an intended speed trajectory of the motor veh icle 1 .
  • the driver acceptable constraints define how the vehicle speed is allowed to be varied in the absence of nearby vehicles in dependence on road gradient and road curvature.
  • a current gap to each nearby vehicle is determined in a step S3, in th is case measured using the radar equ ipment 6, 7.
  • the sizes of the gaps can be determined in terms of time or distance.
  • an expected speed trajectory of each nearby vehicle 3, 4 is determined , either by estimating the speed trajectories on-board the motor veh icle 1 or by receiving the speed trajectories from the nearby veh icles 3, 4 or from a central communication node (not shown) by means of wireless commun ication .
  • traffic acceptable constraints are determined in a step S4.
  • the traffic acceptable constraints are set so as to ensure that, on the upcoming road stretch , a future gap to the trailing vehicle 4 and the lead veh icle 3, respectively, will correspond to at least the minimum gap sizes.
  • the motor veh icle's velocity will only be allowed to fluctuate such that the motor vehicle is positioned within the allowed space d a l lowed (see fig . 1 ).
  • an intended speed trajectory of the motor veh icle 1 is thereafter in a step S5 determined such that the intended speed trajectory satisfies the traffic acceptable constraints as well as the driver acceptable constraints. If not all constraints can be simultaneously satisfied , pre-defined conditions may be used to select the most suitable intended speed trajectory.
  • the traffic acceptable constraints may include a hard constraint which may never be violated relating to the minimum forward gap size d 2.
  • the traffic acceptable constraints may also include a soft constraint relating to the min imum rearward gap size d i . This soft constraint may be defined so that it can be violated if the motor vehicle 1 is unable to maintain the set speed , e.g . on a steep uph ill road stretch , but so that it may not be violated if the motor veh icle 1 is able to maintain the minimum gap without violating the driver acceptable constraints.
  • the vehicle speed is thereafter controlled in a step S6, using the cruise control 5, in accordance with the intended speed trajectory.
  • the intended speed trajectory is continuously re-calcu lated using the method according to the invention .
  • associated control trajectories may also be determined , such as a torque trajectory includ ing driving and braking torques to be demanded from a powertrain of the motor vehicle 1 and/or a gear selection trajectory.
  • the control trajectories can thereafter be used to control the powertrain such that the vehicle speed is ind irectly controlled in accordance with the intended speed trajectory.
  • a diagram illustrating traffic acceptable constraints is shown in fig . 3.
  • the diagram shows distance D to be covered by the motor veh icle 1 as a function of time t, wherein the dashed line shows a constant set speed trajectory of the motor veh icle 1 , i.e. the distance that would be covered if the motor vehicle 1 would travel at a constant set speed .
  • the u pper solid line shows the expected speed trajectory of a lead vehicle 3 travelling ahead of the motor veh icle 1 , i.e. the distance that is expected to be covered by the lead vehicle 3 including a distance d2 corresponding to the minimum forward gap size.
  • the lower solid line shows the expected speed trajectory of a trailing vehicle 4 travelling behind the motor veh icle 1 , including a distance di corresponding to the minimum rearward gap size.
  • the solid lines delimit an allowable space with in which the speed trajectory of the motor vehicle 1 may be allowed to vary taking the traffic acceptable constraints into account, i.e. without coming closer to the lead vehicle 3 and the trailing vehicle 4 than the minimum forward and rearward gaps, respectively.
  • a diagram illustrating driver acceptable constraints in terms of velocity v as a function of distance D to be covered by the motor vehicle 1 is shown in fig . 4.
  • the dashed line shows a constant set speed trajectory of the motor vehicle 1 , i.e. the velocity as a function of distance D if travelling at a constant set speed, and the upper and lower solid lines show maximum and min imum allowed velocity variations as a function of distance D, respectively.
  • the solid lines delimit an allowable space with in which the velocity of the motor vehicle 1 may be varied while satisfying the driver acceptable constraints.
  • the velocity v may e.g . be allowed to be varied with a different amount depending on road curvature and road gradient, depending on performance mode of the motor vehicle 1 .
  • FIG. 5 Another d iagram illustrating driver acceptable constraints, here in terms of distance deviation ⁇ as a function of distance D to be covered by the motor vehicle, is shown in fig . 5.
  • the upper and lower lines represent driver acceptable distance deviations ⁇ from a constant set speed trajectory, i.e. by wh ich distance it is acceptable that the motor veh icle deviates from a distance D that would be travelled if travelling at a constant speed .
  • the upper and lower lines delimit an allowable space with in which the distance travelled by the motor vehicle 1 may be varied while satisfying the driver acceptable constraints.
  • the distance deviation ⁇ may e.g . be allowed to be varied with a different amount depending on road curvature and road gradient.
  • a method for adjusting vehicle speed of a motor vehicle 1 may be implemented in a computer program which , when executed in a computer, causes the computer to conduct the method .
  • the computer program usually takes the form of a computer program product wh ich comprises a suitable d igital storage medium on which the computer program is stored .
  • Said computer-readable digital storage medium comprises a suitable memory, e.g . ROM (read-on ly memory), PROM (programmable read-only memory), EPROM (erasable PROM), flash memory, EEPROM (electrically erasable PROM) , a hard disc unit, etc.
  • Fig . 6 illustrates very schematically an electron ic control un it 30 forming part of a system 2 according to an embodiment of the invention .
  • the control un it 30 comprises an execution means 31 , such as a central processor unit (CPU) , for executing a computer program.
  • the execution means 31 communicates with a memory 32, for example of the type RAM , through a data bus 33.
  • the control un it 30 comprises also a non-transitory data storing medium 34, for example in the form of a Flash memory or a memory of the type ROM , PROM , EPROM or EEPROM .
  • the execution means 31 communicates with the data storing medium 34 through the data bus 33.
  • a computer program comprising computer program code for implementing a method according to an embodiment of the invention is stored on the data storing med ium 34.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

L'invention concerne un procédé et un système de réglage de la vitesse d'un véhicule à moteur (1), le procédé comprenant : récupération de contraintes acceptables pour le conducteur qui définissent des variations de vitesse de véhicule automatiques autorisées; en réponse à une détection d'au moins un véhicule voisin (3, 4), détermination d'un intervalle actuel par rapport au véhicule voisin et obtention d'une trajectoire de vitesse attendue du véhicule voisin; sur la base de l'intervalle actuel, de la trajectoire de vitesse attendue du véhicule voisin et d'au moins une taille d'intervalle minimale (d1, d2), détermination des contraintes acceptables pour le trafic définies de manière à garantir qu'un futur intervalle par rapport au véhicule voisin correspondra au moins à la taille d'intervalle minimale; sur la base d'une vitesse actuelle du véhicule et des contraintes acceptables pour le conducteur et le trafic, détermination d'une trajectoire de vitesse prévue du véhicule à moteur qui satisfait au moins l'une desdites contraintes; commande de la vitesse du véhicule sur la base de la trajectoire de vitesse prévue.
PCT/SE2018/050754 2017-07-13 2018-07-10 Procédé et système de réglage de vitesse de véhicule WO2019013694A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1750917 2017-07-13
SE1750917-5 2017-07-13

Publications (1)

Publication Number Publication Date
WO2019013694A1 true WO2019013694A1 (fr) 2019-01-17

Family

ID=65002237

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2018/050754 WO2019013694A1 (fr) 2017-07-13 2018-07-10 Procédé et système de réglage de vitesse de véhicule

Country Status (1)

Country Link
WO (1) WO2019013694A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3748601A1 (fr) * 2019-06-05 2020-12-09 Volkswagen Ag Procédé de détermination d'une stratégie de conduite ainsi que véhicule

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008019174A1 (de) * 2008-04-17 2009-10-22 Daimler Ag Verfahren und Vorrichtung zum Betreiben eines Fahrzeuges
DE102011121853A1 (de) * 2011-12-21 2012-06-28 Daimler Ag Vorrichtung und Verfahren zur Regelung der Längsdynamik eines Fahrzeugs
WO2012158097A1 (fr) * 2011-05-16 2012-11-22 Scania Cv Ab Interaction d'un automobiliste avec un régulateur de vitesse économique
WO2013095234A1 (fr) * 2011-12-22 2013-06-27 Scania Cv Ab Procédé et module pour déterminer au moins une valeur de référence pour un système de commande de véhicule
WO2014098653A1 (fr) * 2012-12-19 2014-06-26 Volvo Truck Corporation Procédé et agencement de détermination du comportement vitesse d'un véhicule de tête
US20140244129A1 (en) * 2013-02-26 2014-08-28 Ford Global Technologies, Llc Efficiency-based speed control with traffic-compatible speed offsets
US20150012203A1 (en) * 2012-01-02 2015-01-08 Volvo Lastvagnar Ab Method and system for controlling a driving distance
US9272711B1 (en) * 2014-12-31 2016-03-01 Volkswagen Ag Congestion-friendly adaptive cruise control
EP3095661A2 (fr) * 2015-05-19 2016-11-23 MAN Truck & Bus AG Procédé et dispositif d'assistance d'un conducteur de véhicule automobile, en particulier d'un véhicule utilitaire
SE1550721A1 (en) * 2015-06-04 2016-12-05 Scania Cv Ab Method and control unit for adjusting a gap
US20170001639A1 (en) * 2015-07-02 2017-01-05 Cummins, Inc. Vehicle speed management integrated with vehicle monitoring system
SE1551399A1 (en) * 2015-10-29 2017-04-30 Scania Cv Ab A method for controlling a powertrain of a vehicle

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008019174A1 (de) * 2008-04-17 2009-10-22 Daimler Ag Verfahren und Vorrichtung zum Betreiben eines Fahrzeuges
WO2012158097A1 (fr) * 2011-05-16 2012-11-22 Scania Cv Ab Interaction d'un automobiliste avec un régulateur de vitesse économique
DE102011121853A1 (de) * 2011-12-21 2012-06-28 Daimler Ag Vorrichtung und Verfahren zur Regelung der Längsdynamik eines Fahrzeugs
WO2013095234A1 (fr) * 2011-12-22 2013-06-27 Scania Cv Ab Procédé et module pour déterminer au moins une valeur de référence pour un système de commande de véhicule
US20150012203A1 (en) * 2012-01-02 2015-01-08 Volvo Lastvagnar Ab Method and system for controlling a driving distance
WO2014098653A1 (fr) * 2012-12-19 2014-06-26 Volvo Truck Corporation Procédé et agencement de détermination du comportement vitesse d'un véhicule de tête
US20140244129A1 (en) * 2013-02-26 2014-08-28 Ford Global Technologies, Llc Efficiency-based speed control with traffic-compatible speed offsets
US9272711B1 (en) * 2014-12-31 2016-03-01 Volkswagen Ag Congestion-friendly adaptive cruise control
EP3095661A2 (fr) * 2015-05-19 2016-11-23 MAN Truck & Bus AG Procédé et dispositif d'assistance d'un conducteur de véhicule automobile, en particulier d'un véhicule utilitaire
SE1550721A1 (en) * 2015-06-04 2016-12-05 Scania Cv Ab Method and control unit for adjusting a gap
US20170001639A1 (en) * 2015-07-02 2017-01-05 Cummins, Inc. Vehicle speed management integrated with vehicle monitoring system
SE1551399A1 (en) * 2015-10-29 2017-04-30 Scania Cv Ab A method for controlling a powertrain of a vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3748601A1 (fr) * 2019-06-05 2020-12-09 Volkswagen Ag Procédé de détermination d'une stratégie de conduite ainsi que véhicule
US11618465B2 (en) 2019-06-05 2023-04-04 Volkswagen Aktiengesellschaft Method for specifying a driving strategy, and vehicle

Similar Documents

Publication Publication Date Title
US10935127B2 (en) Systems and methods for predictive gear shifting and integrated predictive cruise control
US8930115B2 (en) Efficiency-based speed control with traffic-compatible speed offsets
EP2794379B1 (fr) Procédé et module pour commander la vitesse d'un véhicule, basés sur des règles et/ou des coûts
US9969393B2 (en) Intelligent gap setting for adaptive cruise control
US9511668B2 (en) Method and module for controlling a vehicle's speed based on rules and/or costs
US20190164420A1 (en) Method for coordinating distances within a vehicle convoy
US9193264B2 (en) Method and module for determining of at least one reference value for a vehicle control system
US20180135745A1 (en) Systems and methods for dynamic gear state and vehicle speed management
US9180883B2 (en) Method and module for determining of at least one reference value for a vehicle control system
US9352750B2 (en) Module and method pertaining to mode choice when determining reference values
US20130151106A1 (en) Method and module for controlling a vehicle's speed
US9376109B2 (en) Module and method pertaining to mode choice when determining reference values
EP2247465B1 (fr) Procédé, système et produit de programme informatique pour commande de vitesse de véhicule automatisée
US20210237728A1 (en) A method for controlling a motor vehicle
US20160009278A1 (en) Method for controlling an actual speed of a vehicle
US11872988B2 (en) Method and system to adapt overtake decision and scheduling based on driver assertions
EP2847053B1 (fr) Procédé et système pour commander au moins un régulateur de vitesse
WO2019151918A1 (fr) Procédé et appareil de commande de changement de vitesse d'une boîte de vitesses dans un véhicule à moteur
WO2019013694A1 (fr) Procédé et système de réglage de vitesse de véhicule
KR20140142731A (ko) 속도 제어기 및 속도 제어기의 과도 상태를 개선하기 위한 방법
US11034352B2 (en) Systems and methods for engine and transmission control in response to look ahead data
US20240227759A1 (en) Method and Control Arrangement for Controlling a Speed of a Vehicle When Approaching and/or Travelling a Downhill Road Section
US12030494B2 (en) Adaptive distance selection for optimizing efficiency
US20200216069A1 (en) Adaptive Distance Selection for Optimizing Efficiency
SE541747C2 (en) A method and a system for adjusting vehicle speed

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18832650

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18832650

Country of ref document: EP

Kind code of ref document: A1