• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a method (100) for generating a dynamic speed profile of a motor vehicle which is suitable for simulating a, in particular real, driving operation on a route, having the following working steps: determining (102) a route-based static speed profile for the route resolved in route segments based on information from a digital map; Determining (103), based on the distance-based static speed profile, a distance-based dynamized speed profile that takes into account a defined maximum target deceleration to achieve binding speed minima of the speed profile; Determining (104), based on the distance-based dynamized velocity profile, a time-based dynamic velocity profile resolved in time increments, wherein in each time step an applied acceleration based on the velocity profile given by the velocity profile in a route segment corresponding to the respective time step; Time step adjacent velocity is determined; and outputting (105) the time-based dynamic velocity profile.
    公开号:AT520320A4
    申请号:T50822/2017
    申请日:2017-09-26
    公开日:2019-03-15
    发明作者:Dr Ing Düser Tobias；Bauer Sascha
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a method for generating a dynamic speed profile of a motor vehicle, which is suitable for simulating, in particular real, ferry operation on a route, comprising the following steps:
    Determining a route-based static speed profile for the route, broken down into route segments, on the basis of information from a digital map;
    Determining, based on the route-based static speed profile, a route-based dynamized speed profile which takes into account a defined maximum target deceleration to achieve binding speed minima of the speed profile;
    Determining, based on the route-based dynamic speed profile, a time-based dynamic speed profile broken down into time steps, with an applied acceleration in each time step on the basis of the speed predetermined by the speed profile in a route segment, which corresponds to the respective time step, and the speed applied in the time step is determined; and
    Output of the time-based dynamic speed profile.
    Fig. 1
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    Method and device for generating a dynamic speed profile of a motor vehicle
    The invention relates to a method and a device for generating a dynamic speed profile of a motor vehicle, which is suitable for simulating a, in particular real, ferry operation on a route.
    With the introduction of Real Driving Emissions (RDE) legislation, the discrepancy between homologation and real emissions from motor vehicles is to be reduced. As of September 2017, motor vehicles must also demonstrate compliance with emission limit values on the road under real driving conditions for type testing in the European Union in addition to a test cycle in the laboratory (WLTP, WLTC).
    The pollutant emissions in real ferry operations are moving more and more into the focus of development. Ultimately, the aim is not to comply with the emission limit values in a precisely predefined cycle under predefined boundary conditions, but rather to meet the emission targets robustly on real test drives on unknown routes with deliberately roughly defined boundary conditions.
    As a result, RDE legislation has a major impact on the development of new motor vehicle drives. The road as a test environment poses major technical challenges. In classic cycle-based development, driving tests under real conditions are only due with prototype vehicles and thus at the end of the development process. A typical RDE test program with mobile measuring devices (Portable Emission Measurement System PEMS) consists of a large number of test drives on different routes with different drivers in order to statistically cover the greatest possible range of conditions. If fundamental problems are diagnosed in this phase of development, troubleshooting is usually only possible at high cost and involves great effort.
    With its multitude of influences, the road as a test environment offers the necessary stochastic basis to ensure that motor vehicles also comply with the required emission targets when operated by customers. However, due to the difficult to control influences, it is almost impossible to carry out real test drives on the
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    Road to make two measurements with comparable conditions. For this reason, the effects of modifications to the drive or motor vehicle cannot be specifically compared with a basic state. This makes statements about the effectiveness of modifications difficult. The road is therefore only of limited use as a development environment.
    Test bench tests, on the other hand, are reproducible and influences or parameters can be kept constant if necessary. In this way, the effects of influences and their modifications become transparent. In addition, test bench tests can be carried out with more complex measurement technology, which leads to more meaningful measurement results. However, the test cycles carried out on a test bench lead to the known discrepancies between the homologation of motor vehicles and the emission values later achieved in real road traffic.
    Document EP 1 672 348 A1 relates to a method for operating a motor vehicle on a chassis dynamometer, the motor vehicle being equipped with an engine control with which an electronically controlled fresh air or fresh air mixture metering and an automatic transmission or an electronically actuatable transmission can be controlled.
    Furthermore, further test benches are known from the prior art for testing a motor vehicle or components of a motor vehicle, for example drive train test bench, transmission test bench, etc.
    In addition, it is possible to partially or completely test a motor vehicle or components of the motor vehicle based on a model. For this purpose, a model of the motor vehicle to be tested or the component or components to be tested is created and the ferry operation is then simulated using these models and a test cycle.
    In a test cycle, also called a driving cycle, it is determined under which conditions with which speed profile, that is to say a temporal speed sequence, a motor vehicle is operated.
    It is an object of the invention to enable improved testing of motor vehicles or their components. In particular, it is an object of the invention
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    - 3 AVL List GmbH to provide an improved test suitable under the conditions of the RDE legislation.
    This object is achieved by a method according to claim 1, a computer program according to claim 27, a computer-readable medium according to claim 28 and an apparatus according to claim 29. Advantageous refinements result from the subclaims. The teaching of the claims is expressly made part of the description.
    A first aspect of the invention relates to a method for generating a dynamic speed profile of a motor vehicle, which is suitable for simulating, in particular real, ferry operation on a route, preferably comprising the following steps:
    Determining a route-based static speed profile for the route, particularly in route segments, based on information from a digital map;
    Determining, based on the route-based static speed profile, a route-based dynamized speed profile which takes into account a defined maximum target deceleration to achieve binding speed minima of the speed profile;
    Determining, based on the route-based dynamic speed profile, a time-based dynamic speed profile, in particular resolved in time steps, with an applied acceleration in each time step on the basis of the speed specified by the speed profile in a route segment, which corresponds to the respective time step, and that in the Time step applied speed is determined; and
    Output of the time-based dynamic speed profile.
    Preferably, the method according to the invention runs fully automatically, i.e. without user intervention. The steps of determining the static speed profile and determining the dynamic speed profile can preferably also be carried out in one step.
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    A second and third aspect of the invention relate to a corresponding one
    Computer program and a computer readable medium.
    A fourth aspect of the invention relates to a device for generating a dynamic speed profile of a motor vehicle, which is suitable for simulating, in particular real, ferry operation on a route, preferably comprising:
    Means for determining a route-based statistical speed profile for the route, broken down into route segments, on the basis of information from a digital map;
    Means for determining, based on the route-based statistical speed profile, a route-based dynamic speed profile which takes into account a defined maximum target deceleration to achieve, in particular binding, speed minima of the route-based static speed profile;
    Means for determining, based on the route-based dynamic speed profile, a time-based dynamic speed profile broken down into time steps, with an applied acceleration in each time step based on the speed specified by the speed profile in a route segment which corresponds to the respective time step and that in the Time step applied speed is determined; and an interface for outputting the time-based dynamic speed profile.
    A route in the sense of the invention is a distance to be covered or covered.
    A route-based speed profile in the sense of the invention indicates the speed as a function of a distance traveled.
    A static speed profile in the sense of the invention is the designation of an intermediate result of the method according to the invention. In particular, the static speed profile does not take acceleration or braking deceleration into account.
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    A dynamized speed profile in the sense of the invention is a further intermediate result or intermediate product of the method according to the invention. The dynamized speed profile preferably takes no positive accelerations into account.
    A time-based speed profile in the sense of the invention has a dependence of the speed on a route on the time, in particular a time period that has elapsed since the start of the route.
    A digital map in the sense of the invention is a collection of data which are assigned to geodesics, the data at least having information about any statutory speed limits in relation to the geodesics. A digital map can in particular be a database. A digital map preferably has further information relating to roads.
    A simulation in the sense of the invention can be carried out on a test bench or purely model-based on a computer. In a simulation, at least one component can preferably also be operated on a test bench in a simulated operation and at least one other component can be operated on a computer based on a model.
    Outputting in the sense of the invention means in particular providing data. This can preferably be done on a data interface and / or also on a user interface.
    A means in the sense of the invention can be designed in terms of hardware and / or software and in particular a processing unit, in particular a digital processing unit, in particular a digital processing unit, in particular a microprocessor unit (CPU) and / or a data or signal link, preferably with a storage and / or bus system or have several programs or program modules. The CPU can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular different storage media, in particular optical, magnetic, solid bodies and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of executing the methods described here that the
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    CPU can carry out the steps of such methods and thus in particular can determine a value of a target variable in relation to the robustness of at least one vehicle of a vehicle category.
    The invention is based in particular on the approach of being able to investigate as realistic as possible driving scenarios as early as possible in the development process of a motor vehicle in order to obtain reliable results for a later real driving operation of the real motor vehicle. This is achieved according to the invention in that a speed profile is generated on the basis of a real route.
    This route can be determined in a digital map on the basis of a route previously traveled by a motor vehicle, or it can also be determined by a user on the basis of a digital map.
    A raw data set determined in this way, called a route-based static speed profile according to the invention, is processed in further work steps in such a way that various boundary conditions or parameters relating to the motor vehicle, the respective driver and / or other occupants, the road conditions of the route, the respective weather conditions etc., can be restricted.
    A maximum target deceleration is taken into account in a processing phase of the raw data. Furthermore, a pending acceleration is calculated for acceleration phases and taken into account in the speed profile. Both the maximum target deceleration and the applied acceleration preferably depend on the respective driver type.
    The result of the method according to the invention is a speed profile which realistically depicts the movement of the motor vehicle on a real route or an artificial route which is as close as possible to reality. This speed profile can serve as the basis for a test cycle which is used on a test bench or in a purely model-based test of the motor vehicle and / or its components.
    Using this speed profile, which is referred to as a time-based dynamic speed profile according to the invention, the conformity of individuals can be determined at an early stage in various development stages of the development process of a motor vehicle
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    -7components or the entire motor vehicle can be tested. A variety of real influences can be reproducibly represented and stochastic test conditions can still be made possible by parameterizing these influences. This can be an advantage, especially when it comes to checking RDE compliance.
    This is not possible efficiently when testing in real road traffic due to the lack of reproducibility and high costs and the late point in time or the development stage in the development process. In particular, a load spectrum from testing in real road traffic is not known in advance and is coincidental except for a few specified boundary conditions. In particular, influences such as traffic, weather, etc. make the reproducibility of tests in real road traffic almost impossible.
    The method according to the invention enables a test operation on test stands or model-based, which at least essentially corresponds to an operation in real road traffic. On the one hand, this at least reduces the discrepancies between test operation and later real operation at the customer. Furthermore, a number of development tasks can be shifted towards the development process at an earlier point in time or at an earlier development stage. This is of great advantage, in particular due to the ongoing cost pressure and the greater variety of variants in the motor vehicle industry. The duration of real tests can be greatly shortened by the method according to the invention and thus ensure a time and cost-saving development process.
    In an advantageous embodiment of the method, further traffic lights remain in a defined range for the route-based static speed profile after a traffic light, preferably from approximately 100 m to 20 m, more preferably from approximately 80 m to 40 m and most preferably from approximately 60 m of the speed profile are not taken into account. In this way, it can preferably be prevented that traffic lights in the opposite direction to the direction of travel are misinterpreted as stopping points by the method.
    In a further advantageous embodiment of the method according to the invention, a maximum speed for the route-based static speed profile is driver-specific. This allows different types of drivers and their behavior to be taken into account.
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    In a further advantageous embodiment of the method according to the invention, the amount of a reference of an acceleration value in one time step to an acceleration value in a preceding time step is less than a threshold value, the threshold value being determined as a function of the driving physics, the vehicle and / or the driver. As a result, jerks in the longitudinal movement of a vehicle, which would not be tolerable, can be excluded from the speed profile.
    In a further advantageous embodiment of the method according to the invention, for the dynamized speed profile when speed jumps occur in the static speed profile, starting from a binding speed minimum, the speed in the preceding route segments is based on the speed in the following segment and a defined standard speed. Target deceleration, in particular a maximum target deceleration, is determined until the speed in one of the preceding route segments reaches the value of the speed profile in this route segment.
    A speed jump in the sense of the invention occurs when a change in speed within a defined distance is greater than a predetermined threshold value. This threshold value is preferably as high as if the speed change were caused by the maximum target deceleration. Alternatively or additionally, there is a speed jump if the course of the static speed profile cannot be continuously differentiated.
    A maximum target deceleration in the sense of the invention is preferably predetermined by the properties of the motor vehicle and / or the ambient conditions of the motor vehicle and / or the driver type.
    Due to the structuring of the raw data, which come from a digital map, the speeds of the static speed profile correspond to the respective maximum speed values given by a driver or by a legal speed limit. These speed values can change abruptly from one route segment to the next route segment. Of course, this is not realistic. The aim of this advantageous embodiment is therefore to identify the actual braking points at which the driver begins to brake in order to achieve a certain minimum speed
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    Reach route segment. In particular, according to the invention, starting from the speed minimum to be achieved, it is determined for each preceding route segment how the speed value had to be there, taking into account a standard target deceleration, until the value of the static speed profile is finally reached. As a result, the speed jump in the static speed profile creates a steady course of the speed in the dynamic speed profile. Preferably, an incline and / or the loading of the motor vehicle present in the route segments concerned can also be taken into account.
    In an advantageous embodiment of the method according to the invention, it also has the following work steps:
    Determining a coasting speed profile that takes into account a target deceleration defined by the coasting behavior of the vehicle in order to achieve, in particular binding, speed minima of the static speed profile.
    The target deceleration defined by the coasting behavior of the vehicle in the sense of the invention is that target deceleration which is caused by driving style resistance of the motor vehicle itself and driving resistance of the motor vehicle with its surroundings. This can be taken into account both in the engaged state and in the disengaged state of the motor vehicle.
    Accordingly, in an advantageous embodiment, the device according to the invention has means for determining a coasting speed profile, which takes into account a target deceleration defined by the coasting behavior of the vehicle for reaching, in particular binding, speed minima of the static speed profile.
    In a further advantageous embodiment of the method according to the invention, for the static speed profile when speed jumps occur in the static speed profile, starting from a, in particular binding, speed minimum, the speeds present in the preceding route segments are based on the speed present in the subsequent route segment and the speed through the rollout behavior defines the target deceleration until the in one of the
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    - 10 AVL List GmbH previous route segments present speed reached the value of the static speed profile in this route segment. As described in relation to the maximum target deceleration, a course of the speed profile is also determined here, starting from a speed minimum of the static speed profile, taking into account the coasting behavior of the motor vehicle. Preferably, an incline and / or the loading of the motor vehicle present in the route segments concerned can also be taken into account.
    In a further advantageous embodiment, a course of the route-dependent dynamized speed profile is determined in a driver-specific manner between the course determined by means of the standard target deceleration and the course determined by means of the coasting behavior. Depending on the driver type, a predictive driving style can be taken into account.
    In a further advantageous embodiment of the method according to the invention, the acceleration is set in one time step for the dynamic acceleration profile to a defined acceleration value, in particular less than or equal to a maximum target acceleration, or a defined deceleration value, in particular greater than or equal to a defined standard target deceleration. if on the route segment which corresponds to this time step, the speed present is less than or greater than the value of the dynamic speed profile. This can ensure that the dynamic speed profile approximates the specification by the dynamic speed profile until it is finally reached.
    In a further advantageous embodiment of the method according to the invention, the defined acceleration value depends on the performance map of the motor vehicle. For this purpose, the respective operating point of the drive of the motor vehicle is preferably determined and the possible power that can be called up is determined.
    In a further advantageous embodiment of the method according to the invention, the defined acceleration value is reduced within a tolerance band around the dynamized speed profile to an adaptation acceleration which depends on the speed present in the respective time step. This takes into account the fact that drivers generally slowly reduce the acceleration even before they reach a target speed.
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    In a further advantageous embodiment of the method according to the invention, the maximum target acceleration is driver-specific. An incline and / or a load on the motor vehicle and / or an acceleration sensation of a driver on the mountain is preferably taken into account for the maximum desired acceleration.
    In a further advantageous embodiment, a shift logic of the vehicle is taken into account for the time-based dynamic speed profile, which provides that when a maximum engine speed is reached the engine is upshifted and when the engine is at a minimum speed, a defined shift pause, preferably, for a vehicle with manual shifting one second is taken into account. As a result, the time-based dynamic speed profile can be made even more realistic.
    In a further advantageous embodiment of the method according to the invention, the speed profile is determined during the shift break on the basis of the target deceleration defined by the coasting behavior of the vehicle. The coasting behavior can be viewed both when engaged and when disengaged.
    In a further advantageous embodiment, the method according to the invention also has the following work step:
    Check whether there is a speed jump in the static and / or dynamic speed profile in a first preceding route section, which represents a first predefined period of time in relation to a respective time step, wherein if a speed jump is determined, one is determined by the coasting behavior of the Vehicle-defined target deceleration is selected as the defined deceleration value, and the defined standard target deceleration is selected as the defined deceleration value when the applied speed in a time step and / or the corresponding route segment reaches the value of the static or dynamic speed profile.
    A route section in the sense of the invention contains one or more route segments.
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    This measure can also make the dynamic speed profile more realistic. This is because the inventors have found that a driver first lets a vehicle roll somewhat before initiating a braking operation.
    Accordingly, in an advantageous embodiment, the device according to the invention has means for checking whether a speed jump in the static and / or dynamized speed profile is present in a first route section ahead, which represents a first predefined period of time in relation to a respective time step, wherein if a speed jump is determined, a target deceleration defined by the coasting behavior of the motor vehicle is selected as a defined deceleration value, and a defined standard target deceleration is selected as a defined deceleration value if the speed present in a time step and / or the corresponding route segment has the value of static or dynamic speed profile achieved.
    In a further advantageous embodiment, the method according to the invention also has the following work step:
    Check whether there is a speed jump in the static and / or dynamized speed profile in a second preceding route section, which represents a second predefined period of time with respect to a respective time step, wherein, if a speed jump is found, "zero" as the defined one Delay value is selected, and wherein the second predefined period is preferably before the first predefined period.
    Accordingly, the device according to the invention has means for checking whether there is a speed jump in the static and / or dynamized speed profile in relation to a respective time step in a preceding second predefined period of time, wherein if a speed jump is determined, “zero” as predefined delay value is selected, and wherein the second predefined period is preferably before the first predefined period.
    This measure also serves to make the dynamic speed profile even more realistic. In particular, the human behavior determined by the inventors is depicted, that it is not changed directly from acceleration to coasting, but that the speed is kept constant beforehand.
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    The second predefined period is preferably as long as the first predefined period.
    In a further advantageous embodiment of the method according to the invention, data points are read from the digital map for the route-based static speed profile and / or generated on the basis of the information from the digital map.
    In a further advantageous embodiment of the method according to the invention, a maximum curve speed is assigned to each curve for the route-based static speed profile on the basis of at least one parameter from the following group:
    • respective curve radius;
    • respective curvature;
    • a driver-specific parameter; and / or • a maximum lateral acceleration.
    Curves with a radius greater than approximately 600 m are preferably not treated as curves. A minimum curve speed of 20 km / h is preferably also specified if the curve radius falls below a defined value, preferably approximately 15 m.
    In a further advantageous embodiment of the method according to the invention, a distance between the map points for determining the curve radius of the route-based static speed profile as a function of the angle between a straight line through a first and a second of map points read from the digital map and a further straight line through the second and a third of map points read from the digital map, wherein for angles smaller than approximately 45 °, preferably approximately 40 °, most preferably approximately 30 °, map points generated with a smaller distance, preferably approximately 3 m, more preferably approximately 2 m, most preferably about 1 m, and for larger angles, map points with a greater distance, in particular the distance between the raw map data points read from the digital map, are used.
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    The inventors have found that such a selection of the map points enables a real path of a motor vehicle to be simulated realistically through any curve. The circular equation is preferably used to calculate the curve radius.
    In a further advantageous embodiment of the method according to the invention, the selected map points are connected to form a trajectory of the motor vehicle, in particular by interpolation.
    In a further advantageous embodiment of the method according to the invention, a curve maximum speed is calculated for the route-based speed profile on the basis of the curve radius. The human behavior when cornering, in particular driver-specific, is preferably taken into account here. Further preferably, a maximum lateral acceleration is initially calculated as an intermediate step. It is preferably taken into account that people accept higher lateral forces at low speeds than at high speeds.
    A third aspect of the invention relates to a method for analyzing at least one component of a motor vehicle, the at least one component or the motor vehicle being subjected to a real or simulated test operation based on a time-based dynamic speed profile, the time-based dynamic speed profile starting from one in route segments resolved route-based, in particular dynamized, speed profile is determined by dissolving in time steps, with an applied acceleration being determined in each time step on the basis of the speed specified by the route-based speed profile in a route segment, which corresponds to the respective time step, and the speed applied in the time step ,
    In an advantageous embodiment of the method according to the invention, the route-based, in particular dynamized, speed profile is determined on the basis of a route-based static speed profile, wherein a defined, in particular maximum, target deceleration for reaching, in particular binding, speed minima of the route-based static speed profile is taken into account.
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    In a further advantageous embodiment of the method according to the invention, the route-based static speed profile for the route is determined on the basis of information from a digital map.
    In a further advantageous embodiment of the method according to the invention, the dynamic speed profile and / or the route-based speed profile, in particular the applied acceleration, and / or the route-based static speed profile, in particular the defined target deceleration, depend on one or more parameters.
    In a further advantageous embodiment of the method according to the invention, one or more parameters are varied in order to analyze the at least one component or the motor vehicle.
    Features and advantages with respect to the first aspect of the invention apply accordingly to the second and third aspects of the invention and vice versa.
    Further features and advantages of the invention are explained below using exemplary embodiments with reference to the figures. Show it:
    1 shows a flow diagram of an exemplary embodiment of the method according to the invention in accordance with the first aspect of the invention;
    2 shows a static speed profile according to an exemplary embodiment of the invention;
    3 shows a diagram of the lateral acceleration tolerance of different driver types
    4 shows a section of a dynamic speed profile in the area of a deceleration;
    5 shows a dynamic speed profile in comparison with a measured speed profile;
    6 dynamic speed profiles for different driver types in comparison to measured speed profiles; and
    Fig. 7 shows an embodiment of an inventive device for generating a dynamic speed profile.
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    1 shows a flowchart of a method according to the first aspect of the invention.
    In a step 101 of data collection, the input, i.e. the raw data generated for the subsequent work steps. Geodesics of a specific route R are preferably required for this. Real measurements of a test drive on the road can serve as the source for the geodesics of Route R. Alternatively or additionally, it is also possible to generate geodesics on the computer on the basis of online maps. In this case, the creation of a route R can advantageously be generated in a user-friendly manner with the aid of a computer-based route planner with a digital map. More preferably, this can be done by specifying a few route points along a desired route R. Corresponding functionalities are known from various route planners at the time of registration, for example from Google Maps®. OpenStreetMaps (OSM), for example, can be used as a digital map. However, other cards from other providers are also applicable.
    After the creation of the route R and / or the reading of the geodesics on the basis of a real measurement trip, the route data is prepared in step 102 on the basis of information from the digital map.
    For this purpose, information such as topological and topographical data, legal speed limits and the position of traffic signal systems are collected from the geodesics of Route R. This information is preferably available directly in the digital map, which preferably uses a database or is itself a database. For example, the digital map OpenStreetMaps has its own database server from which the relevant information can be called up. This information is preferably extracted automatically on the basis of the specified route R.
    The actual route data, which are extracted from the digital map after the route R has been determined, preferably consist of a sequence of map points. Such map points are generally stored in the digital maps.
    These route data are transformed into a coordinate system (in particular X, Y, Z) using the information from the digital map, preferably based on the longitude and latitude of the map points. Furthermore, the route R is preferably based on the one taken from the digital map
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    Interpolated map points and in particular based on this interpolation formed further map points which have a defined distance from one another. This distance of the map points generated is preferably less than that of the map points which were removed from the map. The distance is preferably about 2 m. Furthermore, the raw route data taken from the digital map is preferably smoothed with a filter in order to rule out discontinuities in the altitude data.
    In order to be able to calculate a maximum curve speed, the curvature or the curve radius in the curves of route R is preferably calculated. In order to be able to determine a realistic route, it is expedient to use map points with different distances for interpolation of the route R for different changes in direction.
    For this purpose, the angle of the change in direction between successive map points of the map points originally taken from the digital map is preferably determined. If this angle falls below a threshold value, preferably less than about 45 °, preferably less than about 40 ° and most preferably less than about 30 °, the previously formed further map points are used with a smaller distance for interpolation in the curve. Otherwise, the map points with a greater distance for interpolation in the curves are used.
    A speed of 0 km / h is specified for traffic light systems or traffic lights at which you want to stop later. Each light signal system is preferably set to a length of 4 m or two distance steps between three map points generated. Since light signal systems are usually not directed in the digital maps, after a light signal system in the direction of travel of route R, all other light signal systems on a defined subsequent distance are preferably ignored in order not to misinterpret light signal systems from the opposite direction as possible stopping points. Such a subsequent distance is preferably approximately 60 m.
    Regardless of whether a route R is generated on the basis of a digital map or is generated on the basis of a real measurement journey, given the speed limits along the route, predetermined speeds can preferably be overwritten and, as shown in FIG. 2, replaced by speeds, which are specified by, in particular in sections, traffic conditions or traffic influences. For example
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    In one exemplary embodiment, the traffic conditions free travel, moderate traffic and heavy traffic can be selected. In this way, realistic traffic scenarios, for example in rush hour traffic, can be taken into account in the static speed profile.
    There are various approaches to simulate traffic influences. A relatively simple model is preferably used to determine the static speed profile, which leads to the speed values in the individual route segments being reduced in sections. The frequency and amplitude of the traffic influence is preferably dependent on the speed extracted from the digital map and the traffic volume. The frequency of the traffic influence decreases with increasing speed and traffic volume, whereas its amplitude preferably increases.
    The result of the preparation of the route data is a route-based static speed profile of route R, which is broken down into route segments. The individual route segments are preferably assigned a curvature, an incline, a speed value based on legal speed limits and, if appropriate, the traffic volume and any stopping points by light signal systems. The speed values of the route segments can preferably also be limited by specifying curve speeds.
    Such a route-based static speed profile for a route in a digital map is shown in FIG. 2. As can be seen from the speed profile, speed changes, for example through a change in the legal speed limit or a specification for stopping at a traffic light system, are realized by speed jumps. In the hatched areas, two different traffic scenarios were also taken into account in the static speed profile.
    In a next step of precalculation 103, a route-based dynamic speed profile is calculated on the basis of the route-based static speed profile. For this purpose, the route-based speed values of the route segments are limited by further boundary conditions.
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    A maximum curve speed is preferably first determined in each curve. This maximum speed is preferably calculated using a model for emulating human behavior when cornering.
    The following equation is preferably used for this:
    v = ak 1 '' 3 v speed a driver-dependent parameter k curvature
    This equation only requires the curvature k and the driver-dependent parameter α as input parameters. With the parameter α, a tolerance of the lateral dynamics of a particular driver type can be changed. The parameter α also influences the maximum lateral acceleration (see “On the human control of vehicles: an experimental study of acceleration”, Paolo Bosetti, Mauro Da Lio, Andrea Saroldi, Eur. Transp. Res. Rev. (2014) 6: 157-170). In this way it can be taken into account that people generally accept higher lateral forces at lower speeds than at high speeds.
    Corresponding dependencies between tolerable lateral acceleration and speed for a given curve radius r or a curvature 1 / r and various values of the parameter α are shown in FIG. 3.
    Curves with a radius of more than 600 m are preferably not taken into account because they are perceived as curves similar to a motorway. Furthermore, a minimum curve speed is preferably specified. This is preferably about 20 km / h from a radius r of less than 15 m.
    Furthermore, the need for braking in good time is preferably taken into account in the dynamic speed profile. In order to find suitable braking points before dips in the static speed profile, that is to say negative jumps in speed, at which braking must take place at the latest with a maximum target deceleration, which can be dependent on the motor vehicle and / or driver type. For this, the static speed profile is moved backwards into this
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    Searched for positive jumps in speed. If such a speed jump occurs, the speed value in each route segment i is calculated on the basis of the speed minimum of the respective speed jump or the previous route segment i-1 using the following equation:
    Vi = Λ / ν 2 _ 1 + 2 · As · a
    Vi speed in route segment i
    Vj-i speed in route segment i-1
    The distance between two route segments, in particular between the centers of two route segments a standard target deceleration, in particular a maximum target deceleration
    The route-based assignment of speed values to route R, which takes these speed values into account, forms the route-dependent dynamized speed profile.
    In order to simulate the deceleration behavior of real drivers, a dynamized speed profile is calculated in addition to the deceleration curve, which would be set if the driver simply let the motor vehicle roll out in the static speed profile when negative speed jumps occurred. In this case, the deceleration from the sum of the forces of the driving resistances in the coupled state is preferably used. Alternatively, it is also possible to carry out this calculation in the disengaged state.
    Depending on the type of driver, a combination of coasting and active deceleration is used if the current speed is between a target speed of the dynamized speed profile and a coasting speed.
    If there is no speed jump or speed change over a longer route section, the speed in the dynamized speed profile is preferably with a sinusoidal oscillation profile
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    A simulation based on a driver type and a motor vehicle follows the work step of the pre-calculation 103 in a further work step 104.
    In this work step 104, a performance or the performance map of the parameterized motor vehicle, in particular by means of a motor vehicle model, and the parameterized driver type, in particular by means of a driver model, are preferably taken into account in a calculation or simulation.
    The speed is not calculated as a function of the distance traveled, but resolved in time. Starting from the starting point of route R, the speed is calculated from an acceleration determined step by step using a model, taking into account a target speed, which is specified by the dynamic speed profile. Here, there are preferably boundary conditions for the respective acceleration, which additionally restrict their value in the respective time step.
    An acceleration is thus determined for each time step, with which the motor vehicle is accelerated in this respective time step. For this purpose, the respective route segment which corresponds to the respective time step is preferably also determined in each case.
    The acceleration desired by the driver model, which is parameterized for a driver type, is initially dependent on whether the speed in the respective time step is inside or outside the target speed, i.e. the value of the dynamic speed profile in the route segment i, which corresponds to the time step , lies. If the applied speed is outside the belt, an acceleration or deceleration occurs depending on whether the target speed is exceeded or undershot, and the simulation tries to reach the target speed within a specified boundary condition for acceleration with a defined acceleration value or a defined standard target deceleration. The defined acceleration value or the standard target deceleration is dependent on a parameterized maximum target acceleration and is preferably also speed-dependent on a limit value for the product
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    As soon as the speed applied reaches the tolerance band or is within the tolerance band, the acceleration in the time step is selected such that the speed applied approaches the target value of the dynamized speed profile in the route segment i corresponding to the time step asymptotically.
    The following equations are preferably used for the adjustment acceleration to be calculated:
    _ ( V ztei V (t)), ^ anqleich ~ T7 α 1 / a Vziel-VToi down)) or _ (Vziel-Vit)) aangleich- (y zlel - VTolup)} • a (t)
    Here are:
    aangleich
    Acceleration in the tolerance band
    vtarget
    Target speed v (t) current speed
    VTol down lowest speed value of the tolerance band VTol up highest speed value of the tolerance band at) defined target deceleration or standard target acceleration
    In addition to the driver, the motor vehicle can also be used as a limiting condition for the acceleration. The load on the engine is therefore preferably calculated in each time step in order to limit the acceleration of the motor vehicle based on the engine power, that is to say the engine map.
    It is also preferably taken into account in the driver model that some
    Driver types reduce acceleration on slopes. For this, the
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    Slope downforce is calculated in the respective route segment corresponding to the time step and the resulting downhill acceleration is subtracted from the standard target acceleration specified by the driver model. However, this is preferably only used at speeds outside the tolerance band.
    In addition, a so-called foresight can be implemented in the respective driver model for all driver types. Depending on the driver type, different forecast times are given. Such a look-ahead time, together with the speed present in the respective time step, results in a range of route segments up to which the respective driver model looks ahead.
    Proceeding from this, it is checked on the one hand in the distance of the preferably double area whether the speed present in the current time step is higher than the target speeds of the dynamic speed profile specified in the double area. If this is the case, the acceleration is initially set to "zero" for the further time steps.
    On the other hand, it is also checked whether a coasting speed curve, based on the speed present in the current time step, would cut the dynamized speed profile, which represents a braking curve in this area. If this is the case, a roll-out is started, that is, a roll-out speed curve based on the speed at which it is applied.
    Only at the intersection of this roll-out speed curve with the dynamized speed profile, i.e. when cutting with the actual braking curve, is the application of the defined target deceleration to follow the dynamized speed profile until the speed minimum caused by the braking maneuver is reached.
    This type of foresight is intended to reflect the behavior of many drivers not to increase the speed further before predictable braking maneuvers, then to delay a certain amount of time in overrun mode or alternatively in sailing mode, i.e. engaged or disengaged without active braking, and only late to start active braking.
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    Such a behavior in the event of a delay, taking into account a foresight, is shown in FIG. 4.
    A total of five graphs are shown in FIG. 4. In the marked distance range, these are from bottom to top:
    The bottom graph relates to the course when the speed minimum should be reached by coasting alone at idle.
    The second bottom graph relates to the course of a time-based dynamic speed profile according to the invention.
    The third bottom graph relates to the lower area of the tolerance band around the route-based static speed profile, which specifies the target speed.
    The fourth bottom graph relates to the route-based static speed profile according to the invention.
    The top graph relates to the upper edge of the tolerance band around the route-based static speed profile, which specifies the target speed.
    The time-based dynamic speed profile increases in the section in front of the marked area, starting from a minimum. This acceleration range is determined by a defined acceleration value, in particular less than or equal to a maximum target acceleration. For this reason, the speed here cannot follow the route-based, dynamic speed profile, the increase of which is caused here by a change in the legal speed limit.
    The look-ahead function of the method according to the invention begins at the beginning of the marked area. It is initially assumed here that, as explained above, a driver would initially transition from acceleration to a state of constant speed.
    Furthermore, it is assumed that the driver would then let the vehicle roll out for a certain amount of time, which is the parallel course of the time-based dynamic
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    Speed profile explained after the marked area. In this area, the time-based dynamic speed profile runs roughly parallel to the bottom graph, the roll-out graph.
    When the time-based dynamic speed profile finally reaches the route-based dynamic speed profile or the target speed, it is finally assumed that the driver brakes with the defined standard target deceleration, in particular a maximum target deceleration, until the vehicle is opened, as in the calculation of the route-based dynamic speed profile has reduced the speed of the particularly binding speed minimum in the right section of the diagram.
    Active braking with an implemented look-ahead according to the method according to the invention is therefore carried out only in the last third of a necessary speed reduction.
    The acceleration in the route-based dynamized speed profile is preferably also limited by a limitation of the acceleration, which depends on the respective driver type. This ensures that an acceleration change per unit of time, in particular per second, does not exceed a predetermined limit value. In this way, the route-based dynamic speed profile is smoothed and preferably has limited jerks. This is decisive for the transferability of the generated cycles or their realism.
    The vehicle model on which the time-based dynamic speed profile is based is preferably defined as a point mass. In addition to acceleration resistances and gradient resistances, resistance forces are impressed on the coasting curve in the engaged or disengaged state.
    A switching logic is preferably implemented in the vehicle model (in the case of an automatic) or the driver model (in the case of a manual transmission) on which the time-based dynamic speed profile is based.
    Such a switching logic is furthermore dependent on predetermined minimum speeds and maximum speeds and the available engine torque in current operation. If these limits are exceeded, if
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    The speed in the next higher and next lower gear is preferably also calculated in parallel. If no acceleration is expected in the next five seconds and the speed in the next higher gear is greater than the minimum speed for shifting when driving at constant speed, the gear is shifted up. If there is an acceleration in the same time and the speed in the next lower gear is lower than the maximum speed for switching when accelerating, the next lower gear is selected.
    In addition, it is preferably shifted into the lower gear when there is no sufficient torque reserve, even when there is no acceleration.
    For the simulation of automatic transmissions, the shift logic of the corresponding transmission can preferably also be adopted in the vehicle model in order to calculate the time-based dynamic speed profile.
    In manual transmissions, a shift pause, in particular of about one second, can preferably also be provided when shifting.
    In phases without traffic and curve curvature, a simplified control behavior can also be superimposed on the time-based dynamic speed profile. In this way, the speed over such a route area or such a time segment is not constant all the time, which better reflects the conditions during a real journey. For this purpose, the target speed is preferably superimposed by means of a sine function with a constant speed specification, the amplitude and the frequency further preferably depending on the speed specification of the time-based dynamic speed profile. At lower speeds the amplitude is low and the frequency is high and vice versa.
    In order to additionally estimate the relevance of a route R with regard to the RDE legislation, a CO2 characteristic curve can be stored for the vehicle under consideration. This so-called V-line is preferably generated from the measurement data of a WLTC (Worldwide Harmonized Light Vehicles Test Cycle). Out
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    Parameters of the vehicle model are preferably the total vehicle mass, parameters for the coasting resistance, the full load curve of the motor vehicle, the transmission ratio, the differential ratio, the tire dimension and / or the V line. Driver parameters of the driver model are preferably the maximum target acceleration, a standard target deceleration, a maximum jerk, that is to say a maximum change in acceleration per unit of time, a driver-specific maximum speed and a value for parameter a, which characterizes the permissible cornering speed. These parameters are generally easy to research, so that the parameterization of a dynamic speed profile according to the invention is particularly simple. Preferably, no detailed model parameters are necessary. Only parameters that can be found on the Internet are particularly preferred.
    The driver model, on which the time-based dynamic speed profile is based, preferably has three driver types, driver types A, B and C, which provide different boundary conditions, in particular with regard to driving dynamics, through different parameterization. Other types of drivers are also possible.
    FIG. 5 shows a time-based dynamic speed profile determined for a route R defined on a digital map, see FIG. 5 at the top left, see solid line. For comparison, the speed range around the time-based dynamic speed profile shows the bandwidth of the speed from several real test drives on the real route R.
    The time-based dynamic speed profile generated by means of the method according to the invention lies largely within the scatter band generated by means of measurement runs. In addition, the absolute values of the calculated dynamic speed profile with driver type B are in similar ranges as the average speed of the real test drives.
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    As already explained, the sinusoidal vibrations of the dynamic speed profile in the area of the freeway speed have been deliberately superimposed in order to achieve a certain driving dynamics on the route-based dynamized speed profile despite permanently constant speed specifications and furthermore, in a simple manner, a control behavior of people when adjusting constant speeds to simulate.
    FIG. 6 shows an enlarged section of the speed profile from FIG. 5. At a distance of 33,000 m, the individual graphs from bottom to top are as follows:
    The bottom graph relates to a time-based dynamic speed profile for driver type A.
    The second bottom graph relates to an average measured speed for a large number of real measurement runs, the scatter band of which is marked around this average speed.
    The third bottom graph concerns a
    Speed profile for a driver type B.
    The fourth bottom graph relates to a
    Speed profile for a driver type C.
    time based time based dynamic dynamic
    The top graph relates to the legal speed limit in the route section shown.
    It is clear from the diagram that the cornering speed calculated by means of the method according to the invention for the different driver types has a significantly lower speed than the legal speed limit. The driver type parameter with the values Α, B and C covers the spread of the cornering speed of real drivers in these areas. The position of a cursor C (vertical line in the diagram) in conjunction with a circle P on the digital map shows where the motor vehicle is currently on route R.
    Deviations of the time-based dynamic speed profiles of the individual driver types compared to the measurement trips are due in particular to
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    In the acceleration and deceleration behavior, the higher dynamics of driver type C can be seen and also that driver type A begins earliest with the rollout behavior described, if it is clear in its look-ahead period or range that a deceleration towards a speed minimum is necessary becomes.
    A device for generating a dynamic speed profile 1 shown in FIG. 7 preferably has means 2 for determining a route-based static speed profile for the route R on the basis of information from a digital map, means 3 for determining, starting from the route-based static speed profile Route-based dynamic speed profile, which takes into account a defined maximum target deceleration to achieve, in particular binding, speed minima of the route-based static speed profile, means 4 for determining, based on the route-based dynamic speed profile, a time-based dynamic speed profile, with an applied acceleration on the basis in each time step the speed specified by the speed profile in a route segment, which corresponds to the respective time step, and de r speed determined in the time step is determined, and an interface 5 for outputting the time-based dynamic speed profile. The individual means 2 to 5 are preferably connected by a data connection. Furthermore, the device 1 preferably has a further interface in order to read information from a digital map and / or to read the route R. The interfaces are preferably data interfaces and / or user interfaces.
    The exemplary embodiments described above are merely examples which are not intended to restrict the scope of protection, the application and the structure of the method and device according to the invention in any way. Rather, the person skilled in the art is given a guide for the implementation of at least one exemplary embodiment by the preceding description, it being possible for various changes, in particular with regard to the function and arrangement of the described components, to be carried out without the scope of protection being removed
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    权利要求:
    Claims (29)
    [1]
    Expectations
    1. A method (100) for generating a dynamic speed profile of a vehicle, which is suitable for simulating, in particular real, ferry operation on a route, comprising the following steps:
    • determining (102) a route-based static speed profile for the route, broken down into route segments, based on information from a digital map;
    • Determining (103), based on the route-based static speed profile, a route-based dynamic speed profile which takes into account a defined, in particular maximum, target deceleration to achieve, in particular binding, speed minima of the route-based static speed profile;
    • Determining (104), based on the route-based dynamic speed profile, a time-based dynamic speed profile broken down into time steps, with an applied acceleration in each time step on the basis of the speed specified by the dynamic speed profile in a route segment, which corresponds to the respective time step, and the speed present in the time step is determined; and • output (105) the time-based dynamic speed profile.
    [2]
    2. The method (100) according to claim 1, wherein for the route-based static speed profile after a traffic light further traffic lights in a defined range, preferably from about 100 m to 20 m, more preferably from about 80 m to 40 m and most preferably from about 60 m , are not taken into account when determining the speed profile.
    [3]
    3. The method (100) according to claim 1 or 2, wherein a maximum speed is driver-specific for the route-based static speed profile.
    [4]
    4. The method (100) according to claim 1, wherein the amount of a difference between an acceleration value in one time step and an acceleration value in a preceding time step is less than one
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    Threshold is, the threshold being determined depending on the driving physics, the vehicle and / or a driver.
    [5]
    5. The method (100) according to one of claims 1 to 4, wherein for the dynamized speed profile when speed jumps occur in the static speed profile, starting from a, in particular binding, speed minimum, the speed present in the preceding route segments on the basis of the respectively in the speed following the subsequent route segment and a defined standard target deceleration, in particular a maximum target deceleration, is determined until the speed applied in one of the preceding route segments reaches the value of the static speed profile in this route segment.
    [6]
    6. The method (100) according to claim 5, wherein the standard target deceleration lies between a maximum target deceleration and a deceleration defined by the coasting behavior of the vehicle and is in particular driver-dependent.
    [7]
    7. The method (100) according to claim 1, further comprising the following working step:
    Determining a coasting speed profile which takes into account a target deceleration defined by the coasting behavior of the motor vehicle in order to achieve, in particular binding, speed minima of the static speed profile.
    [8]
    8. The method (100) according to any one of claims 1 to 7, wherein for the dynamized speed profile when speed jumps occur in the static speed profile, starting from a, in particular binding, speed minimum, the speeds present in the preceding route segments on the basis of the respectively in the following route segment speed and the target deceleration defined by the coasting behavior of the motor vehicle are determined until the one in the preceding route segments
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    [9]
    9. The method (100) according to claim 5 and 8, wherein a course of the route-dependent dynamized speed profile is determined in a driver-specific manner between the course determined by means of the standard target deceleration and the course determined by means of the coasting behavior.
    [10]
    10. The method (100) according to any one of claims 1 to 9, wherein for the dynamic acceleration profile in a time step, the acceleration to a defined acceleration value, in particular less than or equal to a maximum target acceleration, or a defined deceleration value, in particular greater than or equal to a defined standard Desired deceleration is set when the speed at the route segment corresponding to this time step is less than or greater than the value of the dynamic speed profile.
    [11]
    11. The method (100) according to claim 10, wherein the defined acceleration value depends on the performance map of the motor vehicle.
    [12]
    12. The method (100) according to claim 10 or 11, wherein the defined acceleration value within a tolerance band around the dynamized speed profile is reduced to a matching acceleration, which depends on the speed present in the respective time step.
    [13]
    13. The method (100) according to any one of claims 10 to 12, wherein the maximum target acceleration is driver-specific.
    [14]
    14. The method (100) according to any one of claims 1 to 13, wherein for the time-based dynamic speed profile, a switching logic of the motor vehicle is taken into account, which provides that when a maximum speed of the engine is reached and is shifted down at a minimum speed of the engine, at a Motor vehicle with manual transmission preferably also takes into account a defined switching pause, in particular approximately 1 s.
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    [15]
    15. The method (100) according to claim 14, wherein the speed profile is determined on the basis of the target deceleration defined by the coasting behavior of the motor vehicle during the shift break.
    [16]
    16. The method (100) according to one of claims 1 to 15, further comprising the step:
    Checking (102b; 103b) whether there is a speed jump in the static or dynamized speed profile in a first preceding route section, which represents a first predefined time period with respect to a respective time step, and if a speed jump is detected, a through the rollout behavior of the motor vehicle defined target deceleration is selected as a defined deceleration value, and a defined standard target deceleration is selected as a defined deceleration value when the speed present reaches the value of the static or dynamic speed profile in a time step and / or the corresponding route segment.
    [17]
    17. The method according to claim 16, further comprising the step of: checking (102a; 103a) whether in a second route section lying ahead, which represents a second predefined period of time with respect to a respective time step, a speed jump in the static and / or dynamic There is a speed profile, whereby if a speed jump is determined, “zero” is selected as the defined deceleration value, and the second predefined period lies before the first predefined period.
    [18]
    18. The method (100) according to claim 1, wherein a maximum curve speed is assigned to the curve-based static or the dynamic speed profile of each curve on the basis of at least one parameter from the following group:
    • respective curve radius (r) • respective curvature (1 / r)
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    [19]
    19. The method (100) according to claim 1, wherein map points are read from the digital map for the route-based static speed profile and / or are generated on the basis of the information from the digital map.
    [20]
    20. The method (100) according to claim 19, wherein a distance between the map points for determining the curve radius (r) of the route-based static speed profile as a function of the angle between a straight line through a first and a second of map points read from the digital map and a further one Straight lines are formed by the second and a third of map points read from the digital map, map points generated for angles less than about 45 °, preferably less than about 40 °, most preferably less than about 30 °, with a smaller distance, preferably about 3 m, more preferably about 2 m, most preferably about 1 m, and for larger angles, map points with a greater distance, in particular the distance between the raw data map points read from the digital map, can be selected.
    [21]
    21. The method (100) according to claim 20, further comprising the step of: connecting the selected map points to a trajectory of the motor vehicle (for simulation), in particular by interpolation.
    [22]
    22. A method for analyzing at least one component of a motor vehicle, the at least one component or the motor vehicle being subjected to a real or simulated test operation based on a time-based dynamic speed profile, the time-based dynamic speed profile starting from a route-based, in particular dynamized, speed profile by dissolving is determined in time increments, in each time step an applied acceleration based on the speed specified by the route-based speed profile in a route segment,
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    [23]
    23. The method according to claim 22, wherein the route-based, in particular dynamized, speed profile is determined on the basis of a route-based static speed profile, a defined, in particular maximum, target deceleration to achieve, in particular binding, speed minima of the route-based static
    Speed profile is taken into account.
    [24]
    24. The method of claim 23, wherein the route-based static speed profile for the route is determined on the basis of information from a digital map.
    [25]
    25. The method according to any one of claims 22 to 24, wherein the dynamic speed profile and / or the route-based speed profile, in particular the applied acceleration, and / or the route-based static speed profile, in particular the defined target deceleration, depend on one or more parameters.
    [26]
    26. The method of claim 25, wherein the one or more parameters are varied to analyze the at least one component or the motor vehicle.
    [27]
    27. A computer program comprising instructions which, when executed by a computer, cause it to carry out the steps of a method according to one of claims 1 to 26.
    [28]
    28. Computer-readable medium on which a computer program according to claim 27 is stored.
    [29]
    29. Device (1) for generating a dynamic speed profile of a vehicle, which is suitable for simulating, in particular real, ferry operation on a route, comprising:
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    Means (2) for determining a route-based static speed profile, broken down into route segments, for the route on the
    Basis of information from a digital map;
    Means (3) for determining, based on the route-based static
    Speed profile, a route-based dynamized
    Speed profile, which takes into account a defined maximum target deceleration to achieve, in particular binding, speed minima of the route-based static speed profile;
    Means (4) for determining, based on the route-based dynamic speed profile, a time-based dynamic speed profile broken down into time steps, with an applied acceleration in each time step based on the speed specified by the speed profile in a route segment which corresponds to the respective time step, and the speed present in the time step is determined; and an interface (5) for outputting the time-based dynamic speed profile.
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    1.4
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    2.4
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    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50822/2017A|AT520320B1|2017-09-26|2017-09-26|Method and device for generating a dynamic speed profile of a motor vehicle|ATA50822/2017A| AT520320B1|2017-09-26|2017-09-26|Method and device for generating a dynamic speed profile of a motor vehicle|
    US16/650,926| US20200346659A1|2017-09-26|2018-09-26|Method and a device for generating a dynamic speed profile of a motor vehicle|
    PCT/AT2018/060225| WO2019060938A1|2017-09-26|2018-09-26|Method and a device for generating a dynamic speed profile of a motor vehicle|
    EP18785246.2A| EP3687874A1|2017-09-26|2018-09-26|Method and a device for generating a dynamic speed profile of a motor vehicle|
    KR1020207012053A| KR20200061385A|2017-09-26|2018-09-26|Method and apparatus for generating a dynamic speed profile of a vehicle|
    CN201880076154.5A| CN111491844A|2017-09-26|2018-09-26|Method and device for generating a dynamic speed profile of a motor vehicle|
    JP2020517423A| JP2020535061A|2017-09-26|2018-09-26|Methods and equipment for generating kinetic velocity profiles for automobiles|
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