Method and control arrangement for controlling the speed of a vehicle

Abstract

Method (200) for controlling a vehicle cruise control (100), wherein the method (200) comprises: determining (210) a maximum speed profile (vmax) and a minimum speed profile (vmin) for an upcoming road segment (510) based on information about the upcoming road segment (510); controlling (220) the cruise control (510) such that the speed of the vehicle (100) in the upcoming road segment (510) is within a speed interval (vallowed) between the maximum speed profile and the minimum speed profile; further determining the maximum speed profile (vmax) based on user input into the cruise control;Determining the minimum speed profile (vmin) is further based on the user's input in the cruise control, wherein the user's input in the cruise control is an input regarding a driver mode, and wherein a driver mode focused on improved fuel economy results in a wider speed range (vallowed) so that the vehicle can use functions without leaving the speed range (vallowed), whereas a driver mode optimized to maintain a preferred speed results in a narrower speed range (vallowed).

Description

TECHNICAL AREA

[0001] The invention relates to a method and a control arrangement for controlling a speed controller in a vehicle. The invention also relates to a computer program, a computer-readable medium, and a vehicle with such a control arrangement. BACKGROUND

[0002] The following description of fundamentals explains the background of the invention, but does not necessarily define the prior art.

[0003] One of today's global challenges is reducing the negative environmental impact of road traffic. Energy consumption in vehicles also entails costs for the vehicle owner. For vehicles equipped with an internal combustion engine, fuel costs represent a significant expense for the owner or user. For electric vehicles, energy efficiency is a key factor influencing cost, performance, and competitiveness.

[0004] This has increasingly led to efforts to improve the energy efficiency of vehicles. Reduced energy consumption can be achieved, for example, through cruise control functions, where the vehicle's actual speed can deviate from a speed set by the driver. Cruise control functions, also known as predictive cruise control, use predictive information to control the vehicle's speed in an energy-efficient manner. SHORT DESCRIPTION

[0005] One objective of embodiments of the invention is to reduce or overcome at least some of the disadvantages of the prior art in their effects.

[0006] Therefore, one goal is to provide a solution regarding the control of a speed controller in a vehicle for energy-efficient vehicle propulsion.

[0007] According to a first embodiment of the invention, the above and further objectives are achieved with a method for controlling a speed controller of a vehicle, wherein the method comprises: Determining a maximum speed profile and a minimum speed profile for an upcoming road segment based on information about the upcoming road segment; and

[0008] Controlling the speed controller in such a way that the speed of the vehicle in the upcoming road section is controlled within a speed range that lies between the maximum speed profile and the minimum speed profile.

[0009] In other words, the invention relates to a method for controlling the speed of a vehicle by means of a speed control function which uses information about the upcoming road section to dynamically determine a permissible speed range at any given time.

[0010] By determining the maximum and minimum speed profiles based on information regarding the upcoming road section, a permissible speed range is defined at any given time. Instead of setting a static speed range, as with conventional speed control functions, the permissible speed range according to the invention can be adapted to the prevailing road conditions and changing environments of the vehicle.

[0011] By controlling the cruise control according to the present invention to set a vehicle speed for the current road segment, the vehicle's speed can be controlled safely and reliably. In driving situations with various external factors influencing the vehicle's speed, the cruise control is capable of using different types of speed profiles, e.g., constant speed profiles, more complex speed profiles that vary continuously, and speed profiles that allow transitions between different speed levels. This makes it more attractive for the driver to use the cruise control function to regulate the vehicle's speed, even in situations that are not well suited to the use of conventional cruise control functions.In situations where the permitted speed range is expected to change dynamically, for example, the driver does not need to switch off the cruise control function when exiting a motorway; rather, it can remain switched on, even on secondary roads and in urban areas. This leads to increased use of the cruise control's energy-saving functions compared to conventional cruise control systems.

[0012] Due to reduced energy consumption in the vehicles, costs are reduced. Furthermore, in vehicles equipped with a combustion engine, reduced energy consumption leads to reduced exhaust emissions from the vehicle due to reduced fuel consumption.

[0013] In vehicles equipped with electric motors, reduced energy consumption leads to reduced wear and tear on components in the vehicle's drivetrain, e.g., regarding the battery supplying one or more electric motors, since the permitted speed range can be selected to allow for reduced power consumption from the battery through energy-efficient driving.

[0014] In one embodiment of the invention, the method includes a determination of the maximum speed profile, which is also based on input from the user into the speed controller.

[0015] This allows the maximum speed profile to be determined based on the driver's driving preferences. A cruise control system that allows the driver to influence the speed and details of its execution is more attractive to drivers than one without this capability.

[0016] This allows the driver's driving experience to be expanded, resulting in a competitive advantage for the speed controller according to the invention.

[0017] In one embodiment of the invention, the method includes determining the minimum speed profile also based on an input to the speed controller.

[0018] This achieves similar advantages to determining the maximum speed profile based on an input to the speed controller.

[0019] In one embodiment of the invention, the user input into the speed controller is a user input in driver mode.

[0020] This allows the vehicle's permitted speed to be linked to a user / driver mode selected by the driver. The driver mode can relate to one or more predefined settings in the vehicle's speed controller, with the vehicle's speed being determined based on the selected setting. This gives the driver flexibility to prioritize factors such as fuel / energy consumption and travel time. The driver's preferences regarding vehicle handling are thus taken into account when controlling the vehicle's speed.

[0021] This achieves personalized speed control, allowing the driver to adapt the vehicle's behavior to their individual preferences regarding functionality and speed.

[0022] The user can also easily and intuitively set the vehicle's permitted speed.

[0023] In one embodiment of the invention, the determination of the maximum speed profile is further based on a set speed profile with respect to the upcoming road section.

[0024] A set speed can refer to a speed that the vehicle is required to maintain. The set speed can be manually adjusted by the driver or it can be automatically determined based on, for example, speed limit information.

[0025] This means the vehicle's speed now corresponds more closely to the prescribed vehicle speed.

[0026] In one embodiment of the invention, the determination of the minimum speed profile is still based on a set speed profile for the upcoming road section.

[0027] This achieves similar advantages to determining the maximum speed profile while also taking into account the set speed profile for the upcoming road section.

[0028] In one embodiment of the invention, the maximum speed profile and the minimum speed profile have different accelerations and / or different decelerations.

[0029] If the maximum and minimum speed profiles have different acceleration and / or deceleration rates, the permissible speed range can be adjusted to optimize vehicle behavior. Such a variable permissible speed range can prove advantageous in several situations. For example, a large permissible speed range can offer the cruise control better options for determining the vehicle speed according to, for instance, a preferred driving style and road conditions. Energy-efficient driving can be achieved, for example, through braking, engine braking, coasting, etc., depending on the permissible speed range and road conditions.A narrow permitted speed range does not offer the same possibilities regarding speed variation, but can be a good option in situations where smaller speed variations are preferred or required.

[0030] In one embodiment of the invention, the maximum speed profile and the minimum speed profile have different starting positions with respect to acceleration and / or deceleration.

[0031] This determines the permitted speed range of the vehicle in such a way that the vehicle's speed can be adapted to the given road conditions, changing environments of the vehicle and also to the driving preferences of the driver.

[0032] In one embodiment of the invention, the maximum speed profile and the minimum speed profile have different stop positions with respect to acceleration and / or deceleration.

[0033] This allows the permitted speed range of the vehicle to be determined in a similar way to what is described above, so that the speed of the vehicle can be adapted to the given road conditions, to changing environments of the vehicle and also to the driving preferences of the driver.

[0034] In one embodiment of the invention, the maximum speed profile and / or the minimum speed profile include intervals of constant speed.

[0035] Such constant speed intervals can be used, for example, over a distance; that is, they are speed intervals that maintain a constant speed over a time interval.

[0036] This allows the maximum and / or minimum speed profile to be adjusted to the driver's driving preference when transitioning from one constant speed interval to another. This can occur, for example, when driving on a road where speed limits change.

[0037] By defining speed profiles with intervals of constant speed, e.g., with constant speed intervals along a stretch of road, efficient algorithms can be used that require less computational effort compared to algorithms used to determine more complex speed intervals. Thus, the speed intervals can be determined quickly and efficiently.

[0038] Intervals of constant speed may also be easier for the driver to understand compared to more complex intervals, which is particularly advantageous if the speed intervals are based on the driver's preferences.

[0039] In one embodiment of the invention, the maximum speed profile and / or the minimum speed profile include continuously varying speed intervals.

[0040] This allows a speed range to be adapted to the driver's preferences in specific situations where, for example, the prevailing road conditions and / or the vehicle's surroundings are constantly changing. This can occur, for instance, when the maximum safe speed in a curve changes with the curve's curvature.

[0041] In one embodiment of the invention, the information regarding the upcoming road section includes information regarding at least one of the following parameters: a speed limit, a traffic density, traffic information, a curvature, a cross slope angle, a topography, and visibility conditions.

[0042] This allows the vehicle's speed to be adjusted to the prevailing road conditions and a changing vehicle environment.

[0043] According to a second embodiment, the invention relates to a control arrangement for controlling a speed controller of a vehicle, wherein the control arrangement is configured to perform the following: Determining a maximum speed profile and a minimum speed profile for an upcoming road segment based on information about the upcoming road segment; and

[0044] Controlling the cruise control in such a way that the speed of the vehicle in the upcoming road section lies within a speed interval between the maximum speed profile and the minimum speed profile.

[0045] According to a third variant of the invention, the above as well as further objectives are achieved with a vehicle which has a control arrangement according to the second variant.

[0046] According to a fourth variant, the invention relates to a computer program with instructions which, when the program is executed by a computer, cause it to execute a method according to the first variant.

[0047] According to a fifth variant, the invention relates to a computer-readable medium containing instructions which, when executed by a computer, cause the computer to execute the method according to the first variant. List of characters

[0048] Exemplary embodiments of the invention will now be explained in detail with reference to the accompanying figures, where similar reference numerals relate to similar components: Fig. Figure 1 shows a vehicle in which embodiments of the invention are implemented. Fig. Figure 2 shows a flowchart for a method for controlling a speed controller of a vehicle according to exemplary embodiments of the invention. Fig. 3a explains an example of speed control in a vehicle with speed variations in discrete steps according to embodiments of the invention. Fig. 3b explains an example of a speed control in a vehicle with continuous speed variation according to embodiments of the invention. Fig. Section 4 explains an example of a speed control system in a vehicle according to embodiments of the invention. Fig. 5a-5c show examples of transitions between different sets of speed profiles. Fig. Figure 6 shows a control arrangement of a vehicle according to Fig. 1 according to exemplary embodiments of the invention. DESCRIPTION OF DETAILS

[0049] A predictive cruise control system uses forward-looking information to control the vehicle's speed in an energy-efficient manner. With modern predictive cruise control systems, the driver typically sets a target speed, vset, as well as the size of an interval within which variations (changes) in relation to the target speed are permitted, i.e., v min , v max Within the interval around the setting speed v set, the predictive speed controller determines an energy-efficient internal reference speed v ref , which is maintained by the vehicle. The reference speed v ref is used as a reference value for low-level speed controls. A typical predictive piece of information for determining v ref is the road topography.

[0050] However, if the set speed (vset) changes due to, for example, changing speed limits or road curvature, the vehicle's speed must be adjusted, requiring a transition between one set speed and another. With conventional solutions, the driver can set various fixed values ​​for desired accelerations and decelerations when the set speed varies between two different constant values. However, it is often inefficient to perform transitions between different set speeds using a fixed, constant rate of acceleration and deceleration. Setting fixed values ​​for desired accelerations and decelerations also does not solve the problem if the speed changes are not executed in discrete steps, as is the case with constant speed limits.For example, when driving on winding roads, the permitted maximum speed can vary continuously and not between gradually constant values.

[0051] Therefore, an improved method for controlling a vehicle's speed controller should be pursued to overcome the problems of conventional solutions.

[0052] Fig. 1 is used here to explain the exemplary embodiments described herein. Fig. Figure 1 schematically shows an example vehicle 100. It contains Fig. 1 Only those units / devices / sizes of the vehicle 100 are shown that are helpful for understanding the invention. The vehicle 100 according to Fig. 1 has a drivetrain / power transmission 110 configured to transmit torque between at least one drive unit 101 and drive wheels 111, 112 of the vehicle 100. The at least one drive unit 101 may contain an internal combustion engine, which is conventionally connected via an output shaft 101 of the drive unit 101 to a clutch 103 and, via the clutch, also to a transmission 105. The torque provided by the drive unit 101 is then applied to the input shaft 104 of the transmission 105. A drive shaft 106, connected to an output shaft of the transmission 105, drives the drive wheels 111, 112 via a central transmission 107, such as a conventional differential, as well as drive shafts 104, 105 connected to the central transmission 107.

[0053] In addition to the drive unit 101 which has an internal combustion engine, the vehicle 100 can also have one or more electric machines to drive the drive wheels 111, 112 of the vehicle 100; it can therefore be, for example, a so-called hybrid vehicle.

[0054] In another example, the drive unit 101 can contain exclusively electric machines for driving the drive shaft 111, 112, so that the vehicle 100 is a purely electric vehicle.

[0055] The one or more electric machines can be arranged essentially at any point along the drive train 110, as long as torque is transmitted to one or more of the wheels 111, 112. The vehicle 100 can be designed in any known way, for example without the gearbox 104 or a conventional differential according to Fig. 1, without thereby limiting the scope of the invention.

[0056] The powertrain / transmission 110 and its components are controlled by the vehicle control system via at least one control arrangement 120, in which the described invention may be implemented. The at least one control arrangement 120 is, for example, responsible for one or more cruise control functions for the automatic control of the vehicle's speed. These cruise control functions can be of different types. In one example, the cruise control function is of a conventional type and is configured to maintain a speed set by the driver or the system. The cruise control function can also be such that additional information is used to control the vehicle's speed. For example, the cruise control function can perform a so-called "look-ahead" function.A "predictive" adaptive cruise control (LACC) system incorporates a speed control function that uses knowledge of an upcoming road segment, i.e., knowledge of the topography of the road ahead of the vehicle, to adjust the vehicle speed based on variations of the road on which the vehicle is traveling.

[0057] The control arrangement 120 can be distributed across several control units configured to control different components of the vehicle 100. For example, the control arrangement 120 can include a determination unit 121 for a speed profile and a speed control unit 122 configured to execute the process steps of the described invention, as explained in more detail below. The control arrangement 120 is described in further detail in Fig. 6 described.

[0058] The vehicle 100 may also have at least one sensor 140, e.g. a camera, which is arranged at a suitable location on the vehicle 100.

[0059] Furthermore, the vehicle 100 can have a positioning system / unit 150. The positioning unit 150 can be based on a satellite navigation system, such as Navigation Signal Timing and Ranging (Navstar), Global Positioning System (GPS), Differential GPS (DGPS), Galileo, GLONASS, or the like. Thus, the positioning unit can include a GPS receiver.

[0060] The vehicle 100 may furthermore have at least one communication device 160 which is set up for communication with at least one unit 170 which is external in relation to the vehicle 100, such as an infrastructure device, an external server, a device for position information and / or at least a communication device of another vehicle.

[0061] According to various embodiments of the invention, the at least one communication device 160 can be essentially any device that transmits information to and / or from the vehicle 100, and the at least one device 170 external to the vehicle 100 can be essentially any external device that communicates with the vehicle 100, i.e., with the at least one communication device 160, for the transmission of information to and / or from the vehicle 100. The at least one communication device 160 can also be a vehicle-to-vehicle (V2V) communication device, a vehicle-to-infrastructure (V2I) communication device, a vehicle-to-everything (V2X) communication device, and / or a wireless communication device, such that communication between the vehicle 100 and the at least one external device 170 is achieved / provided.

[0062] The proposed solution will now be discussed in more detail with reference to Fig. Figure 2 describes a flowchart for procedure 200 for controlling a vehicle's speed controller. Procedure 200 has steps 210-220.

[0063] In step 210 according to Fig. 2. A maximum speed profile and a minimum speed profile are determined for an upcoming road section based on information regarding the upcoming road section; and In step 220, the speed controller is controlled to regulate the vehicle's speed of 100 in the upcoming road section within a speed interval between the maximum speed profile and the minimum speed profile.

[0064] The steps in step 210 according to Fig. Two specific maximum and minimum speed profiles can define a permissible speed range for the vehicle over the time it travels on the current road section. Such maximum and minimum speed profiles can be used in the conventional manner by the vehicle's cruise control to determine the vehicle speed.

[0065] By controlling the speed controller such that the vehicle's speed in the upcoming road section is controlled within a speed interval between the maximum speed profile and the minimum speed profile according to step 220 in Fig. 2 results in a vehicle speed that remains within a safe, reliable range and is energy efficient. This is significant in a number of situations, such as in the Fig. 3a and Fig. 3b is shown.

[0066] Fig. Figure 3a shows a non-restrictive example of controlling the speed of a vehicle 100 according to embodiments of the invention. The speed of the vehicle 100 in Fig. 3a can fluctuate between times T1 and T2 within an allowed deviation between a first maximum speed profile v max_1 and a first minimum speed profile v min_1 The first maximum speed profile v max_1 and the first minimum speed profile v min_1 can be determined here according to procedure 200 based on information about the upcoming road section.

[0067] In a non-restrictive example, the vehicle might be traveling at 100 km / h on a highway, and the information regarding the upcoming road segment could be a speed limit specific to that section of the highway. In another example, the information regarding the upcoming road segment could be a combination of a current speed limit and information regarding current weather and / or visibility conditions. As will be further explained, the maximum and minimum speed profiles can be determined based on the driver's preferences. Thus, based on at least one piece of information regarding the upcoming road segment and, if necessary, additional information such as the driver's preferences, the vehicle's control system determines the following: max_1 and vmin_1 The instantaneous speed of the vehicle, i.e., a speed within an interval between v max_1 and v min_1 , can be determined in the conventional manner by the speed control function for energy-efficient propulsion of the vehicle. Between time T2 and time T3, a new set of speed profiles v is generated. max_transition and v min_transition definitely. At the Fig. The example shown in 3a demonstrates the new set of velocity profiles v max_transition and v min_transition determined based on information regarding the occurrence of a change in conditions, which leads to the first set of speed profiles v max_1 and v min_1 Previous speed limits no longer apply. For example, the vehicle may leave the motorway and a new speed limit may apply. Thus, the set of speed profiles v max_transition and v min_transitionso determined that a transition is possible between the first set of speed profiles v max_1 and v min_1 and the second set of speed profiles v max_2 and v min_2 , which will be carried out at time T3 and is based on the new speed limit.

[0068] Another non-restrictive example of the control of the speed of vehicle 100 in which the invention is implemented is in Fig. 3b shown.

[0069] The initially permitted speed range of the vehicle is 100 in Fig. 3b is limited by a first set of velocity profiles v max_1 and v min_1 . However, between times T2 and T5, the maximum speed is limited by v. max , which according to Fig. 3b changes continuously over time. The minimum velocity v also changes between time T3 and time T4. min_1by v max limited. The limiting speed v max This can apply to the vehicle due to given road conditions and a changing vehicle environment, such as the properties of road curvature. For example, v max The maximum speed that the vehicle can maintain when driving through a sharp curve. Therefore, based on the limiting speed v, max A new permissible speed range and a time interval within which the new permissible speed range must be applied must be determined, such that the vehicle's current speed is adapted to the prevailing road conditions. The new permissible speed range is to be specified in Fig. 3b represented as the interval between a second maximum velocity v max_2 and a second minimum speed v min_2The newly permitted speed interval does not necessarily have to be used only in the time interval T2-T5. The time interval in which the newly permitted speed interval is to be used, Tx-Ty, the shape of the second maximum speed profile v max_2 and the second minimum speed profile v min_2 , as well as the permitted speed range, are determined according to the embodiments of the invention in order to achieve the desired driving behavior, which will be explained in more detail below.

[0070] By performing procedure steps 210-220 of procedure 200, the permitted speed interval can be adjusted so that complex speed profiles due to various external factors are used in determining the speed of vehicle 100.

[0071] Method 200 and further embodiments of the invention will now be explained in more detail with regard to Fig. 4, which represents a vehicle traveling at an instantaneous speed vact on a route, where reference sign 510 denotes an upcoming road segment. The road on which the vehicle is traveling can be characterized by features and conditions that may influence a permitted speed range and the instantaneous speed vact of the vehicle 100. The route may, for example, have changing terrain, i.e., be characterized by changing road curvature, changing cross slope angles, and changing topography. Conditions along the route may also change with regard to the traffic situation, visibility, etc.

[0072] The vehicle's speed is controlled by the speed control function according to procedure steps 210-220 of procedure 200.

[0073] Fig. Figure 4 shows a maximum speed profile v max and a minimum speed profile v min for vehicle 100, which are intended for the upcoming road section 510 according to step 210 of procedure 200.

[0074] As explained above, the maximum speed profile and the minimum speed profile, v max and v min , determined based on information regarding the upcoming road section.

[0075] In this embodiment, the information regarding the upcoming road section can include information about at least one of the following parameters: a speed limit, traffic density, traffic information, a curvature, a cross slope angle, topography, and visibility conditions.

[0076] Information about the upcoming road segment can be obtained, for example, from digital maps and cartographic information combined with positional data, such as a global positioning system (GPS). The positional information can be used to determine the vehicle's location relative to the map data, allowing the road segment information to be extracted from the map data.

[0077] Information regarding the upcoming road segment can be obtained, for example, based on information gathered by vehicle 100. For instance, topographical information and speed limit information can be stored and retrieved from the vehicle in combination with position data. Furthermore, modern vehicles can be equipped with one or more sensors that can provide information related to the road segment ahead of vehicle 100. For example, vehicle 100 can be equipped with one or more cameras and / or one or more radar systems, which can be used to determine information such as speed limits, traffic density, traffic information, road curvature, cross slope angle, topography, and visibility conditions.

[0078] In another example, information about the upcoming road section can be obtained based on information from external sources. Such information can be received through communication with at least one other vehicle or from at least one infrastructure facility via suitable communication means, such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-everything (V2X) communication, or similar.

[0079] The course of the maximum speed profiles and the minimum speed profiles, v max and v min , may be influenced by one or more of the factors mentioned above, which are in Fig. 4 are shown. In the upcoming road section, the vehicle's speed may be limited to 100 km / h, e.g. by legal speed limits, weather conditions, visibility, or traffic density between position A and position D.

[0080] The determination of the maximum and minimum speed profiles can be performed in the vehicle's control system using vehicle characteristics and statistical values ​​related to driving data. The optimal reference speed for the vehicle within an interval between the maximum and minimum speed profiles is determined using simulations based on examples, optimization algorithms, and / or other calculations.

[0081] In the example according to Fig. 4 can the maximum speed profile v max can be derived directly from the given speed limits. As soon as the maximum speed profile v max Once determined, the minimum speed profile v minso that the given speed limits are observed and the vehicle's performance is optimized.

[0082] The maximum speed profile v max Between times T1 and T3, and from time T4 onwards, the maximum speed can be determined, for example, based on legal speed limits for the relevant road section. In another example, the maximum speed profile v max Determined based on legal speed limits, along with other parameters that restrict the vehicle's maximum speed to 100 km / h, such as weather conditions and / or visibility. For example, the maximum speed profile v maxFor a vehicle traveling on a road with a speed limit of 120 km / h, the maximum speed can be set lower if visibility is limited. In another embodiment, the traffic conditions in the vicinity of the vehicle can influence the maximum speed profile. max limit. In heavy traffic, the maximum speed profile v max be adapted to the given traffic flow.

[0083] Between times T3 and T4, a different speed limit is set for vehicle 100. For example, a sharp curve is anticipated, which necessitates a reduction in the maximum speed profile v. maxThis is necessary to prevent the vehicle from slipping on the road. Therefore, between time T3 and time T4, corresponding to positions C and D, the maximum speed profile is continuously adjusted in a variable manner so that the vehicle can safely navigate the curve. The maximum speed profile v max This can be calculated based on, for example, the radius of the predicted curve and a maximum permissible lateral acceleration.

[0084] Similarly, the maximum speed profile v min The maximum speed profile can be determined based on given conditions. In a non-restrictive example where the vehicle is traveling at 100 km / h uphill, the maximum speed profile can be calculated based on the vehicle's potential acceleration on the uphill section, along with parameters such as the vehicle mass and the gradient of the road ahead, to name just a few.

[0085] Furthermore, maximum and minimum speed profiles can be determined based on the driver's driving habits. Thus, the driver can influence the vehicle's speed by selecting settings related to the levels of v. min and / or v max The driver can, for example, specify their driving preferences regarding energy efficiency, driving comfort and driving time, and thus influence the levels and patterns of the speed profiles.

[0086] In general, the minimum speed profile v min Determined based on accelerations and decelerations suitable for optimizing vehicle speed with regard to energy efficiency, driving comfort, or travel time. Are v min and v maxOnce determined, the vehicle speed can be calculated. The vehicle's speed at any given time should be within the permissible speed range v. allowed The vehicle speed must not deviate from the speed profile, which is limited by the maximum and minimum speed profiles. The vehicle speed can be calculated using conventional methods by optimizing or simulating various situations to determine an energy-efficient reference speed, which is then maintained by the vehicle.

[0087] According to one embodiment, the maximum speed profile and / or the minimum speed profile can also be determined based on user input into the speed controller.

[0088] The driver can be enabled to manually adjust or even set the maximum and / or minimum speed profile depending on, for example, the prevailing traffic situation. The driver might, for instance, feel more comfortable allowing large changes in speed when traffic density is low. Conversely, if visibility is poor, the driver might prefer a reduced maximum permissible speed.

[0089] In one example, the user can input the speed controller in the conventional way, using a lever, a push button, or a touchscreen, to name just a few. In another example, the speed controller can be operated via voice commands from the user / driver. With either manual input or voice commands, the driver can select their preferred level for the maximum and / or minimum speed profiles. Alternatively, the driver can also change a previously set speed profile to a different, preferred one.

[0090] In one embodiment, the user input in the speed controller can be an input mode for the driver.

[0091] As explained above, an input mode for the driver as user can relate to one or more predefined execution settings in the vehicle's speed controller.

[0092] Non-restrictive examples regarding driver modes include an Eco mode, in which the vehicle speed is determined to achieve the best possible energy savings; a Standard mode, which may optimize fuel economy while maintaining good performance on inclines; and a Power mode, which may optimize driving time. The driver is thus given the option to prioritize fuel / energy consumption, driving time, driving performance, etc.

[0093] By selecting a preferred driving mode, the driver can influence the progression of the maximum speed profiles and / or the minimum speed profiles. max or v mincontrol and accordingly also the size of the permissible speed range v allowed .

[0094] The permissible speed range v allowed It provides a framework for the cruise control system when determining the vehicle's current speed at any given time. Within a specific permitted speed range v allowed The vehicle's control system finds an energy-efficient control method such that the actual speed lies within the desired settings.

[0095] By establishing a large speed range, improved fuel economy can be achieved because a wider speed range is possible. The vehicle can use functions such as engine braking, coasting, and braking without exceeding the permitted speed range. allowed to leave.

[0096] Is the permitted speed range v allowed If the engine is relatively small, then its behavior is often abrupt and geared towards maintaining the preferred speed under all conditions.

[0097] Determining maximum and minimum speed profiles based on user input in a driving mode can be triggered by the driver selecting a preferred driving mode. A driving mode that prioritizes economy results in a wider speed range v. allowed In its simplest form, v allowed from a constant minimum speed profile v min and a constant maximum speed profile v max However, if, for example, there is a change in a speed limit or a curve, then the speed profiles v min and v maxIt may not be constant. In such situations, a selected driver mode influences the speed profiles. min and v max such that a more economy-oriented driver mode allows for a larger speed range v allowed results, even if v min and v max are not constant.

[0098] A key feature of automatic cruise control is the setting of a preset speed. This preset speed is a preferred speed, such that the vehicle maintains it. This decision can be made automatically or manually by the driver. As explained above, the vehicle's current speed can be adjusted within the permitted speed range. allowed to vary around the set speed in order to achieve the desired driving performance.

[0099] If the vehicle is traveling at 100 km / h on a road section 510, the set speed can, for example, assume a constant value, corresponding to a legal speed limit for that road section. The set speed can be constant or it can vary over time. The set speed level over time is referred to here as the set speed profile.

[0100] In one embodiment, the maximum speed profile v max and / or the minimum speed profile v min so that they continue to be based on a set speed profile for the upcoming road section 510.

[0101] The setting of maximum and minimum speed profiles based on a predefined speed profile for the upcoming road section 510 can be triggered by setting a predefined speed profile. In one example, the predefined speed profile can be set manually by the driver. In another example, the predefined speed profile can be set automatically by the vehicle's cruise control system, e.g., by reading applicable legal speed limits or in any other conventional way.

[0102] One example is a setting where the set speed is automatically adjusted according to the applicable legal speed limits. If the speed limits change, the set speed is updated. Another example concerns driving on a winding road, where the set speed must vary according to the risk of skidding or tipping over in a curve. Other factors, such as poor visibility or weather conditions, can also influence the set speed.

[0103] As above with reference to Fig. As explained in section 3a, in certain situations speed profiles are required that allow a transition between two sets of speed profiles. Fig. Figures 5a-5c show non-restrictive examples for determining sets of velocity profiles that enable such transitions according to the method of the invention.

[0104] In Fig. 5a is a first permitted speed interval v allowed The first permitted speed interval v is shown for the vehicle between times T1 and T2. allowed is the interval between a first maximum speed v max_1 and a first minimum speed v min_1 At time T2, a second allowed speed interval v is available. allowed represented as the interval between a second maximum speed v max_2 and a second minimum speed v min_2 A transition between the first law of velocity v max_1 and v min_1 and the second law of velocity v max_2 and v min_2This can be done in different ways. As explained previously, the size of the permitted speed range v can be allowed This can influence the vehicle's handling. A large speed range v allowed Improved fuel economy can be achieved, while at relatively smaller speed intervals v allowed The engine's response may be more abrupt, and optimization is provided to maintain a preferred speed under all conditions.

[0105] Fig. 5b shows an example of a transition between a first set of velocity v max_1 and v min_1 and a second sentence from the speed v max_2 and v min_2 The transition has a maximum speed profile v max and a minimum speed profile v min between times T2 and T3. The maximum speed profile v maxand the minimum speed profile v min have the same deceleration start point at time T2, the same deceleration end point at time T3, and the same deceleration rates.

[0106] Fig. 5c shows another example of a transition between a first set of velocity v max_1 and v min_1 and a second sentence from the speed v max_2 and v min_2 Here, a variable permissible speed interval between times T2 and T3 is obtained by allowing different deceleration rates for the maximum speed profile v. max and the minimum speed profile v min The variation of the deceleration rates of v max and v min implies a variation regarding the start or stop positions with respect to the change in the value of v. min or v max The deceleration rate with respect to the maximum speed profile vmax depends on the start and stop positions of the speed profile. By shifting, for example, T2 into Fig. As you move towards T3 (5c), the deceleration rate increases. By shifting T2 into Fig. As we head towards T1 at 5c, the deceleration rate decreases.

[0107] As can be seen from Fig. 5c shows that, when a transition between two speed profiles is required, the setting of suitable start and / or stop positions of the speed profiles has an influence on the rate of change, i.e., the acceleration rate and the deceleration rate of the speed profiles, and on the size of the permissible speed interval v. allowed As explained previously, the size of the permitted speed range v allowedrelevant for determining the current speed of the vehicle and simultaneously for optimizing the preferred driving characteristics of the vehicle (fuel / energy consumption, travel time, etc.).

[0108] An expert recognizes that the same applies when the transition between two sets of speed profiles concerns the acceleration rates.

[0109] Thus, in one embodiment, the sets from speed profiles v max and v min different accelerations and / or different decelerations. Furthermore, in one embodiment, the set of velocity profiles v max and v min have different start and / or stop positions for acceleration and / or have different start and / or stop positions for deceleration.

[0110] As explained previously, the course of the maximum speed profile v maxand / or the minimum speed profile v min They may differ depending on a number of parameters.

[0111] In one embodiment, the maximum speed profile v max and / or the minimum speed profile v min Contains constant speed intervals.

[0112] Constant permitted speed intervals are particularly useful when factors influencing the vehicle's speed vary in increments. This can be especially true for speed limits on roads.

[0113] In another embodiment, the maximum speed profile v max and / or the minimum speed profile v min exhibit continuously varying speed intervals.

[0114] Continuously varying speed intervals can be used when factors influencing the vehicle's speed are constantly changing. This might be the case, for example, with a maximum speed that can be maintained in a curve due to the risk of skidding or tipping over. Another example is gradual changes in forward visibility due to obstacles on the road.

[0115] According to a variant of the invention, a control arrangement 120 for controlling a speed controller of a vehicle 100 is presented. The control arrangement 120 includes a device 121 which is configured to determine a maximum speed profile and a minimum speed profile for an upcoming road segment based on information regarding the upcoming road segment.

[0116] The control arrangement 120 further includes a device 122, which is configured to control the speed controller in such a way that the speed of the vehicle 100 in the upcoming road section is controlled within a speed interval between the maximum speed profile and the minimum speed profile.

[0117] The control arrangement 120, e.g., a device or a control unit, according to the invention can be configured to perform all of the above-described activities, the subject matter of the claims, and the exemplary embodiments described herein with respect to the process steps. The control arrangement 120 is thus provided with all the above advantages for the respective exemplary embodiment.

[0118] The invention also relates to a vehicle 100 which contains the control arrangement 120.

[0119] Fig. Figure 6 shows the control arrangement 600 / 120, which may contain or correspond to one or more of the control units 121-122 mentioned above, i.e., the control units that perform the process steps according to the invention described herein. The control arrangement 600 / 120 has a computing unit 601, which may be formed by a suitable processor or microcomputer, e.g., a circuit for digital signal processing, such as a digital signal processor (DSP), or a circuit with a predetermined specific function, such as an application-specific integrated circuit (ASIC). The computing unit 601 is connected to a storage unit 602, which is arranged in the control arrangement 600 / 120, the storage unit supplying the computing unit 601 with, e.g., stored program code and / or stored data, which the computing unit 601 needs to perform the calculations.The computing unit 601 is also equipped to store partial results or final results of calculations in the storage unit 602.

[0120] Furthermore, the control arrangement 600 / 120 is equipped with devices 611, 612, 613, and 614 for receiving and transmitting input and output signals. These input and output signals can take the form of waveforms, pulses, or other shapes, which can be detected by the input signal receiving devices 611 and 613 as information and converted into signals that can be processed by the processing unit 601. These signals are then fed to the processing unit 601. The output signal transmission devices 612 and 614 are configured to convert signals received by the processing unit 601 to generate output signals, for example, modulated signals, which can be transmitted to other components and / or systems of the vehicle 100.

[0121] Each of the connections to the facilities for receiving and transmitting input and output signals can be formed by one or more cables, a data bus such as a Controller Area Network (CAN) bus, a Media Oriented Systems Transport (MOST) bus, or another bus configuration; whether wired or wireless. A person skilled in the art recognizes that the computer mentioned above can be formed by a computing unit 601 and that the memory mentioned above can be formed by a memory unit 602.

[0122] Control systems in modern vehicles typically employ communication bus systems consisting of one or more communication buses to link a number of electronic control units (ECUs), or controllers, as well as various components located within the vehicle. Such a control system can have a large number of control units, and responsibility for a specific function can be divided among several control units. Vehicles of the type shown here therefore often have significantly more control units than in the Fig. 1 and Fig. Figure 5 shows what is well known to a professional.

[0123] In one embodiment shown, the invention can be implemented by one or more of the above control units 121 and 122. However, the invention can also be implemented, either wholly or partially, in one or more other control units already provided in the vehicle 100, or in control units provided for the invention.

[0124] In this document, units are frequently described as being set up to perform steps of the method according to the invention. This also includes the fact that the units are designed and / or configured to perform these method steps.

[0125] The one or more control units 121 and 122 are in Fig.1. These units are represented as separate units. However, these units can also be logically separate and physically combined within the same unit, or they can be both logically and physically combined within a single unit. These units can each correspond, for example, to groups of instructions in the form of program code, which is entered into a processor / processing unit 601 and used there when the units are active and / or used to execute procedural steps.

[0126] The person skilled in the art recognizes that the embodiments described herein can also be implemented in a computer program which, when executed on a computer, instructs the computer to perform the corresponding procedure. The computer program is typically provided by a computer program product 603, which is stored on a non-volatile digital storage medium, wherein the computer program is contained in the computer-readable medium of the computer program product. The computer-readable medium can be any suitable storage medium, such as a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), flash memory, an electronically erasable programmable read-only memory (EEPROM), a hard disk unit, etc.

[0127] The invention is not limited to the embodiments described above. Rather, the invention relates to and encompasses all possible embodiments within the scope of the independent patent claims.

Claims

[1] Method (200) for controlling a speed controller of a vehicle (100), wherein the method (200) comprises: Determining a maximum speed profile (v max ) and a minimum speed profile (v min ) for an upcoming road segment (510) based on information about the upcoming road segment (510); and Controlling the speed controller (510) such that the speed of the vehicle (100) in the upcoming road section (510) lies within a speed interval between the maximum speed profile and the minimum speed profile. [2] Method (200) according to claim 1, wherein the method (200) comprises: Determining the maximum speed profile (v max ) still based on user input in the speed controller. [3] Method (200) according to one of claims 1 or 2, wherein the method (200) comprises: Determining the minimum speed profile (v min ) still based on the user's input in the speed controller. [4] Method (200) according to one of claims 2 or 3, wherein the user's input in the speed controller is an input relating to a driver mode. [5] Method (200) according to any one of the preceding claims, wherein the method (200) comprises: Determining the maximum speed profile (v max ) continues based on a set speed profile for the upcoming road section (510). [6] Method (200) according to any one of the preceding claims, wherein the method (200) comprises: Determining the minimum speed profile (v min ) continues based on a set speed profile for the upcoming road section (510). [7] Method (200) according to one of the preceding claims, wherein the maximum speed profile (v max ) and the minimum speed profile (v min ) exhibit different accelerations and / or different decelerations. [8] Method (200) according to one of the preceding claims, wherein the maximum speed profile (v max ) and the minimum speed profile (v min ) have different starting positions with regard to acceleration and / or deceleration. [9] Method (200) according to one of the preceding claims, wherein the maximum speed profile (v max ) and the minimum speed profile (v min ) exhibit different stopping positions with respect to acceleration and / or deceleration. [10] Method (200) according to one of the preceding claims, wherein the maximum speed profile (v max) and / or the minimum speed profile (v min exhibit constant speed intervals. [11] Method (200) according to one of the preceding claims, wherein the maximum speed profile (v max ) and / or the minimum speed profile (v min ) exhibit continuously changing speed intervals. [12] Method (200) according to one of the preceding claims, wherein the information about the upcoming road section (510) includes information about at least one of the following: a speed limit, a traffic density, traffic information, a curvature, a cross slope angle, a topography and visibility conditions. [13] Control arrangement (120) for controlling a speed controller of a vehicle (100), wherein the control arrangement (120) is configured to: Determining a maximum speed profile (v max) and a minimum speed profile (v min ) for a pending road segment (510) based on information about the pending road segment (510); and to Controlling the speed controller such that the vehicle speed (100) in the upcoming road section (510) lies within a speed interval between the maximum speed profile and the minimum speed profile. [14] Vehicle (100) with a control arrangement (120) according to claim 13. [15] Computer program with instructions which, when the program is executed by a computer, cause it to execute a method (200) according to any one of claims 1 to 12. [16] Computer-readable medium containing instructions which, when executed by a computer, cause the computer to execute the method (200) according to any one of claims 1 to 12.

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