초록 ▼

Described is a method for determining a reference value for a vehicle. The method includes: performing a number of simulation cycles Sj each comprising simulation steps: making a first prediction of the vehicle's speed vpred_cc along the determined horizon with a conventional cruise control; compari

Described is a method for determining a reference value for a vehicle. The method includes: performing a number of simulation cycles Sj each comprising simulation steps: making a first prediction of the vehicle's speed vpred_cc along the determined horizon with a conventional cruise control; comparing, in a first comparison, the predicted vehicle speed vpred_cc with vlim1 and vlim2, which define a motor torque used in a subsequent simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said comparison in the latest preceding simulation cycle; comparing, in a second comparison, the predicted vehicle speed vpred_Tnew with vmin, and vmax1 which demarcate a range within which the speed is maintained; determining the reference value based on the second comparison and/or the second predicted speed in that simulation cycle Sj; and controlling the vehicle according to the reference value.

대표청구항 ▼

1. A control system configured to determine at least one reference value for controlling a speed of a vehicle, the control system comprising: a set speed input unit configured to receive at least one set speed vset for the vehicle;a mode choice receiving unit configured to receive a choice from at l

1. A control system configured to determine at least one reference value for controlling a speed of a vehicle, the control system comprising: a set speed input unit configured to receive at least one set speed vset for the vehicle;a mode choice receiving unit configured to receive a choice from at least two selectable driving modes, each driving mode comprising a setting which influences the determination of the at least one reference value;a map data and location data-based horizon unit configured to determine an itinerary by reference to map data and location data, the horizon made up of at least one route segment with at least one characteristic;a simulation cycle calculation unit configured to perform a number of simulation cycles sj, each simulation cycle comprising a number N of simulation steps conducted at a predetermined rate f, the simulation steps including: making a first prediction of the speed Vpred_cc of the vehicle along the horizon such that the set speed vset is taken as a reference speed vref, the first prediction made based on the characteristic of said route segment;comparing, as a first comparison, the first predicted vehicle speed vpred_cc with first lower and upper limit values vlim1 and vlim2 to define an engine torque T, the engine torque T used in an immediately following simulation cycle sj+1;making a second prediction of the speed Vpred_Tnew of the vehicle along the horizon, the engine torque T being a value defined in said first comparison in an immediately preceding simulation cycle sj−1; andcomparing, as a second comparison, the second predicted vehicle speed vpred_Tnew with at least one of second lower and upper limit values vmin and vmax, wherein vmin and vmax delineate a range within which the speed of the vehicle is maintained; anddetermining said at least one reference value along the horizon based on the chosen driving mode and on said second comparison and/or the second predicted vehicle speed Vpred_Tnew in this simulation cycle sj, so that the at least one reference value is within the range bounded by the second lower and upper limit values vmin and vmax; andthe control system configured to regulate the speed of the vehicle according to said at least one reference value. 2. The control system according to claim 1, wherein the second lower and upper limit values vmin and vmax are defined on the basis of the choice of driving mode. 3. The control system according to claim 1, wherein a further lower limit value vmin and upper limit value vmax2 are defined based on the choice of driving mode and are related to the at least one set speed vset. 4. The control system according to claim 1, wherein the choice of driving mode decides how said at least one reference value is determined. 5. The control system according to claim 1, wherein said at least one reference value is a reference speed vref, and the mode choice defines a permissible acceleration and/or retardation of the vehicle. 6. The control system according to claim 1, wherein the mode choice defines a weighting parameter β, which is used in evaluation of one or more cost functions when determining said at least one reference value. 7. The control system according to claim 6, wherein the calculation unit is configured to perform the simulations by calculating the cost for the second predicted vehicle speed vpred_Tnew and/or a third predicted vehicle speed Vpred_Tk+new by use of at least one cost function JTnew, JTk+new. 8. The control system according to claim 7, wherein the calculation unit is configured to determine the cost functions JTnew and JTk+new for the second predicted vehicle speed vpred_Tnew and a third predicted vehicle speed vpred_Tk+new by weighting with the weighting parameter β, respectively, their energy reductions and journey time reductions relative to the first predicted vehicle speed Vpred_cc. 9. The control system according to claim 8, wherein the calculation unit is configured to compare, as a fourth comparison, the cost functions JTnew and JTk+new for the second predicted vehicle speed Vpred_Tnew and for a third predicted vehicle speed vpred_Tk+new, wherein the determination of the at least one is based on said fourth comparison. 10. A method for determination of at least one reference value for a control system of a vehicle, wherein the method comprises: acquiring a set speed vset for the vehicle;receiving a choice from at least two selectable driving modes, each driving mode comprising a setting which influences the determination of the at least one reference value;determining for the itinerary, by reference to map data and location data, a horizon made up of at least one route segment with at least one characteristic;performing, by a module incorporating an automated processor, a number of simulation cycles, each simulation cycle sj, comprising a number N of simulation steps conducted at a predetermined rate f, the simulation steps comprising: making a first prediction of the speed Vpred_cc of the vehicle along the horizon according to a conventional cruise control when the set speed vset is imparted as a reference speed vref, the first prediction depending on the at least one characteristic of the route segment;comparing, as a first comparison, the first predicted vehicle speed vpred_cc with at least one of first lower and upper limit values vlim1 and vlim2, wherein the first lower and upper limit values vlim1 and vlim2 define an engine torque T for use in an immediately following simulation cycle sj+1;making a second prediction of the vehicle's speed Vpred_Tnew along the horizon when the vehicle's engine torque T is a value which depends on the result of said first comparison in an immediately preceding simulation cycle sj−1;comparing, as a second comparison, the second predicted vehicle speed Vpred_Tnew with at least one of second lower and upper limit values vmin and vmax, wherein the second lower and upper limit values vmin and vmax delineate a range within which the speed of the vehicle is maintained;determining the at least one reference value based on said mode choice and on said second comparison and/or the second predicted vehicle speed Vpred_Tnew in this simulation cycle sj, such that the at least one reference value is within a range bounded by the second lower and upper limit values vmin and vmax; andregulating, by a control system of the vehicle, based on said at least one reference value, the speed of the vehicle. 11. A method according to claim 10, wherein the second lower and upper limit values vmin and vmax are defined based on the choice of driving mode. 12. A method according to claim 10, wherein a further lower limit value vmin2 and upper limit value vmax2 are defined based on the choice of driving mode and based on the set speed vset. 13. A method according to claim 10, wherein the choice of driving mode decides how said at least one reference value is determined. 14. A method according to claim 10, wherein, when said at least one reference value is a reference speed vref, the mode choice defines a permissible acceleration and/or retardation of the vehicle. 15. A method according to claim 10, wherein the mode choice defines a weighting parameter β, the weighting parameter β used in evaluation of one or more cost functions when determining said at least one reference value. 16. A method according to claim 15, wherein the simulations are performed by calculating the cost for the second predicted vehicle speed Vpred_Tnew and/or a third predicted vehicle speed Vpred_Tk+new by use of at least one cost function JTnew, JTk+new. 17. A method according to claim 16, wherein the respective cost functions JTnew and JTk+new are determined for the second predicted vehicle speed vpred_Tnew and a third predicted vehicle speed Vpred_Tk+new by weighting with the weighting parameter β, respectively, energy reductions and journey time reductions relative to the first predicted vehicle speed Vpred_cc. 18. A method according to claim 17, further comprising, comparing, as a fourth comparison, the cost functions JTnew and JTk+new for the second predicted vehicle speed Vpred_Tnew and for a third predicted vehicle speed Vpred_Tk+new, wherein the at least one reference value is determined based on said fourth comparison. 19. A non-transitory computer-readable medium product comprising instructions configured to enable a computer of a vehicle to perform, when the instructions are run on said computer, a method comprising: acquiring a set speed vset for the vehicle;receiving a choice from at least two selectable driving modes, each driving mode comprising a setting which influences the determination of the at least one reference value;determining for the itinerary, by reference to map data and location data, a horizon made up of at least one route segment with at least one characteristic;performing, by a module incorporating an automated processor, a number of simulation cycles, each simulation cycle sj, comprising a number N of simulation steps conducted at a predetermined rate f, the simulation steps comprising: making a first prediction of the speed vpred_cc of the vehicle along the horizon according to a conventional cruise control when the set speed vset is imparted as a reference speed vref, the first prediction depending on the at least one characteristic of the route segment;comparing, as a first comparison, the first predicted vehicle speed vpred_cc with at least one of first lower and upper limit values vlim1 and vlim2, wherein the first lower and upper limit values vlim1 and vlim2 define an engine torque T for use in an immediately following simulation cycle sj+1;making a second prediction of the vehicle's speed Vpred_Tnew along the horizon when the vehicle's engine torque T is a value which depends on the result of said first comparison in an immediately preceding simulation cycle sj−1;comparing, as a second comparison, the second predicted vehicle speed Vpred_Tnew with at least one of second lower and upper limit values vmin and vmax, wherein the second lower and upper limit values vmin and vmax delineate a range within which the speed of the vehicle is maintained; anddetermining the at least one reference value based on said mode choice and on said second comparison and/or the second predicted vehicle speed vpred_Tnew in this simulation cycle sj, such that the at least one reference value is within a range bounded by the second lower and upper limit values vmin and vmax,wherein a control system of the vehicle regulates a speed of the vehicle based on said at least one reference value. 20. A vehicle comprising a control system configured to determine at least one reference value for controlling a speed of the vehicle, the control system comprising: a set speed input unit configured to receive at least one set speed vset for the vehicle;a mode choice receiving unit configured to receive a choice from at least two selectable driving modes, each driving mode comprising a setting which influences the determination of the at least one reference value;a map data and location data-based horizon unit configured to determine an itinerary by reference to map data and location data, the horizon made up of at least one route segment with at least one characteristic;a simulation cycle calculation unit configured to perform a number of simulation cycles sj, each simulation cycle comprising a number N of simulation steps conducted at a predetermined rate f, the simulation steps including: making a first prediction of the speed Vpred_cc of the vehicle along the horizon such that the set speed vset is taken as a reference speed vref, the first prediction made based on the characteristic of said route segment;comparing, as a first comparison, the first predicted vehicle speed vpred_cc with w first lower and upper limit values vlim1 and vlim2 to define an engine torque T, the engine torque T used in an immediately following simulation cycle sj+1;making a second prediction of the speed vpred_Tnew of the vehicle along the horizon, the engine torque T being a value defined in said first comparison in an immediately preceding simulation cycle sj−1;comparing, as a second comparison, the second predicted vehicle speed vpred_Tnew with at least one of second lower and upper limit values vmin and vmax, wherein vmin and vmax delineate a range within which the speed of the vehicle is maintained;determining said at least one reference value along the horizon based on the chosen driving mode and on said second comparison and/or the second predicted vehicle speed vpred_Tnew in this simulation cycle sj, so that the at least one reference value is within the range bounded by the second lower and upper limit values vmin and vmax; andthe control system configured to regulate the speed of the vehicle according to said at least one reference value.