| 摘要 |
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. |
| 主权项 |
1. A module for determining at least one reference value, vref, for a control system of a vehicle, the module comprising:
an input unit configured to receive a set speed vset for the vehicle; a horizon unit configured to determine a horizon for an itinerary by reference to map data and location data which comprise route segments, each route segment having at least one route characteristic for each segment; a calculation unit configured to perform a number of simulation cycles, wherein each simulation cycle sj includes a number N of simulation steps conducted at a predetermined rate f, the simulation steps comprising:
predicting, as a first prediction, a speed vpred—cc of the vehicle along the horizon according to the set speed vset imparted as the reference speed vref, the first prediction depending on a route characteristic of said route segment;comparing, as a first comparison, the 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;predicting, as a second prediction, a speed vpred—Tnew of the vehicle along the horizon when the 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, a second predicted speed vpred—Tnew of the vehicle 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 vref, based on the second comparison and/or the second predicted vehicle speed vpred—Tnew in this simulation cycle sj, said set speed vset being within the range bounded by the second lower and upper limit values vmin and vmax; and a providing unit configured to supply a control system of the vehicle with the vref for regulating the speed of the vehicle. |
