瑞典专利SE1050999A1 Assistance system for a vehicle to generate overtaking instructions

专利PDF首页>>瑞典专利

专利附录

专利说明

权利要求

类似技术

同族专利

引用文献

法律状态

优先权

专利摘要:
Assistance system (2) arranged in a vehicle V1, wherein said assistance system comprises: a position module (4) adapted to determine the current position of the vehicle, a single map module (6) containing map data, and adapted to provide a map signal (8) comprising information defining a future horizon with a predetermined length provided future road sections for the vehicle, and a communication module (10) adapted to identify a vehicle V2, and to establish a communication link (12) with said vehicle for transmitting and receiving information according to a predetermined communication protocol. The assistance system further comprises a bypass module (14) comprising a calculation unit (16) and a memory unit (18) where the bypass module is adapted to receive a first set of vehicle parameters VP1 for the own vehicle V1. The communication module (10) is adapted to receive a second set of vehicle parameters VP2 from the vehicle V2, and transmit these vehicle parameters to said overtaking module, the overtaking module (14) is adapted to determine that said vehicle V2 is a vehicle in front, and if the vehicle V2 is a vehicle in front ( 16) in the overtaking module adapted to continuously calculate the distance D between the own vehicle and the vehicle in front at one or more predetermined future positions for the own vehicle, based on the vehicle parameters VP1 and VP2, the calculated distances D are continuously stored in said memory unit (18), the calculation unit ) is further adapted to analyze how D changes, the bypass module (14) being adapted to generate overtaking instructions based on the analysis intended to be presented to the driver of the vehicle V1. (Figure 2)
公开号:SE1050999A1
申请号:SE1050999
申请日:2010-09-28
公开日:2012-03-29
发明作者:Tomas Backlund
申请人:Scania Cv Ab；
IPC主号:

专利说明:

As mentioned above, especially for heavier vehicles, it is sometimes not possible to maintain a constant speed on uphill slopes, which can cause problems in connection with detours. The object of the present invention is to provide an improved system which facilitates the planning of overtaking and for assessing whether an overtaking of another heavy vehicle is possible and which is specially adapted for heavier vehicles.
Summary of the Invention The above objects are achieved by the invention defined by the independent claim.
Preferred embodiments are defined by the dependent claims.
In the description of the invention reference is made primarily to arranging the assistance system in a heavier vehicle, e.g. a truck or a bus. However, the assistance system can advantageously also be arranged in a lighter vehicle, e.g. in a car.
The solution according to the invention is based on calculations that take into account the current speed, maximum engine power or maximum torque, weight and position from the two vehicles and an estimate is made of the vehicles' average speed a given distance ahead.
The distance comes from, for example, a so-called "Look-Ahead" function which reproduces the topography of the road a certain distance in front of the vehicle, e.g. 2 km.
Based on the position of the vehicles and their estimated speeds, the distance that the vehicles will have between each other at the end of the given distance is calculated. It can then e.g. show that the vehicle behind has passed the front by 100 m.
This distance can then be used to assess whether a circumvention is appropriate.
An advantage of the function according to the invention is that it provides an estimated distance between the vehicles a given distance forward in real time and works regardless of whether the road is flat, going up or down.
The system preferably comprises a display unit adapted to visually indicate to the driver whether the system judges that an overtaking can take place or not. Brief Description of the Drawings Figure 1 shows a schematic view illustrating an application of the present invention.
Figure 2 shows a block diagram illustrating the present invention.
Figures 3 and 4 show graphs illustrating the present invention.
Detailed Description of Preferred Embodiments of the Invention Figure 1 shows an imaginary scenario where a rear truck V1 approaches a front truck V2 and is likely to want to re-drive uphill. According to the invention, a communication link is established between the vehicles and vehicle parameters VP2 are transmitted to the first truck V1. The figure has also indicated, with arrows, that both trucks receive position signals via GPS. The distance D between the vehicles is illustrated as the distance between the front of each vehicle.
With reference to the block diagram in Figure 2, the invention will now be described in detail.
The assistance system 2 according to the invention is adapted to be arranged in a vehicle V1.
Assistance system comprises a position module 4 adapted to determine the current position of the vehicle, and which is emitted as a position signal to the vehicle's CAN bus (Controller Area Network). Furthermore, a map module 6 is included which contains map data, and which is adapted to provide a map signal 8 to the CAN bus comprising information, which together with the position signal defines a future horizon with a predetermined length for a future road section for the vehicle.
Together with information from the position module, e.g. a GPS receiver, the horizon is built up for a future road section consisting of small segments with a size of about 20 meters. Each segment contains a slope and a height for the current segment, but can also contain useful information such as curvature, speed limits and road markings. The total length of a horizon depends on available memory capacity. As the vehicle moves forward, the module will add new segments and remove passed segments so that the horizon will always have the same total length. According to the present invention, the GPS receiver in the form of the position module and the map module in Figure 2 have been illustrated as separate modules, but they may be part of a common module. Furthermore, according to a variant, the position module can be a separate module while the map module is included in a bypass module 14.
The assistance system further comprises a communication module 10 adapted to identify a vehicle V2, and to establish a communication link 12 with the vehicle V2 for transmitting and receiving information according to a predetermined communication protocol.
The communication between the vehicles preferably takes place with an extended version of the standard WLAN protocol IEEE 802.11 ITS (Intelligent Transport Systems) called IEEE 802.11p which works within the 5.9 GHz frequency band and which is dedicated to ITS. A big difference compared to regular WLAN is that this protocol does not need a central unit to communicate, but when one node gets in touch with another node, they will automatically establish a connection. Other communication protocols for communication between the vehicles are of course possible within the scope of the present invention, for example standard WLAN 802.11g, various mobile networks (eg GPRS, 3G, 4g) and millimeter wave communication.
Each vehicle is equipped with a transmitter and receiver unit that constantly searches the surroundings for another vehicle with a corresponding unit. If another vehicle is detected, a bidirectional communication link is established between the vehicles and exchange of information can take place. A typical maximum distance between the vehicles to establish contact can be in the order of 500-600 meters.
According to the invention, the assistance system comprises a bypass module 14 comprising a calculation unit 16 and a memory unit 18 where the bypass module is adapted to receive, from the CAN bus, a first set of vehicle parameters VP1 for the own vehicle V1. Vehicle parameters VP1 include at least: the vehicle's total weight, speed and position, as well as one or ﬂ your parameters related to the vehicle's engine power.
The parameters related to the vehicle's engine power are available on the CAN bus, which is indicated by a block arrow from system V1 which, among other things, denotes the vehicle V1's engine. The communication module 10 is adapted to receive a second set of vehicle parameters VP2 from the vehicle V2 where the vehicle parameters comprise at least the total weight, speed and position of the vehicle, and one or ﬂ parameters related to the engine power of the vehicle, and transfer these vehicle parameters to said overtaking module. A prerequisite for the assistance system according to the invention to function is thus that the vehicle V2 is provided with a communication module 10 "adapted to communicate with the communication module 10 in the vehicle V1, and to transmit the vehicle parameters VP2 via the communication link 12. In V2 a position module 4" must also be present and preferably a CAN bus which forwards relevant parameters from the systems in V2 to the communication module 10 ”.
The overtaking module 14 is adapted to determine that said vehicle V2 is a vehicle in front. This is done, for example, by comparing the positions and direction of movement of the vehicles. Both of these data are obtained from the position module.
If it is found that the vehicle V2 is a forward vehicle, the calculation unit 16 in the overtaking module 14 is adapted to continuously calculate the distance D between the own vehicle and the vehicle in front at one or ﬂ your predetermined future positions for the own vehicle, based on the vehicle parameters VP1 and VP2.
The distance D is thus zero when the vehicles are parallel. Since the lengths of the vehicles are known, one can easily calculate the distance between the front part of the rear vehicle to the rear part of the front vehicle.
The calculated distances D are continuously stored in said memory unit 18.
The calculation unit is further adapted to analyze how D changes over time, the overtaking module being adapted to generate overtaking instructions based on the analysis intended to be presented to the driver of the vehicle V1. The overtaking instructions can for example be presented via the information cluster 20, e.g. via a display. Using the assistance system according to the invention, the distance DH between the vehicles one horizon in front of the vehicle V1 is calculated with the following equation: Dfrra ﬂ yg ﬂ jgp.
In where DH is the distance between the vehicles at the end of the horizon; Dp is the current distance between the vehicles; S1 is the distance that the vehicle V1 travels during the time t1, and S2 is the distance that the vehicle V2 travels during the time t2.
The equation will be explained in detail below.
The equation states that the distance calculated between the vehicles is the distance at the end of the horizon. The length of the horizon is the longest distance in front of the vehicle V1 where the distance D can be calculated. Of course, one can choose, as discussed below, to calculate the distance between the vehicles at a distance in front of the vehicle V1 which is shorter than the length of the horizon, for example in the interval 400-700 meters, for example 600 meters.
According to a preferred embodiment, said predetermined future position for the own vehicle is in the interval 1.5-2 km, preferably 2 km.
Of course, according to a further embodiment, one can choose to calculate the distance between the vehicles at a number of future positions, for example at 600 meters and 2 km.
According to a preferred embodiment, the calculation unit analyzes the calculated distance values between the vehicles and if the distance between the vehicles becomes zero, the position of the vehicles is determined when this occurs.
According to one embodiment, said parameter is related to the maximum power of the vehicle's engine power of the engine.
According to another embodiment, said parameter related to the engine power of the vehicle is the maximum torque generated by the driving wheels of the vehicle.
These two embodiments will be further explained below. The overtaking module 14 is thus adapted to determine that said vehicle V2 is a vehicle in front, and if the vehicle V2 is a vehicle in front, the calculation unit in the bypass module is adapted to continuously calculate the distance D between the own vehicle and the vehicle in front at ﬂ your predetermined future positions for your own vehicle, based on the vehicle parameters VP1 and VP2.
A number of limit values that indicate the distance of the vehicles between each other after a predetermined number of meters can be set, among other things so that, for example, a overtaking can take place in a safe manner.
For example, a limit value may be that the overtaking vehicle must be 100 meters before the vehicle to be overtaken after two kilometers of driving from the current position in order for the driver of the vehicle V1 to be given the instructions that overtaking can be carried out. Another limit value may be that if the vehicle is only 50 meters before the vehicle to be driven over after two kilometers of driving from the current position, the instruction is given that overtaking is not suitable.
The invention is particularly useful in connection with driving on slopes. However, there are situations when driving on a flat road as the invention can provide valuable information to the driver. Such a situation is if there is a future change in the number of lanes, e.g. if the current two files merge into one file one kilometer from the current position. Even when driving downhill, the present invention can make it easier for the driver in a good way, for example if a catching vehicle is heavier it will risk increasing its speed on a downhill.
The assistance system can preferably be implemented in the vehicle's computer with, for example, a C-code.
The main task is to calculate the speed or time it takes to travel the distance defined by the length of the horizon. The speed depends on the balance of power that affects the vehicle. These forces are the air resistance, the friction between the wheels and the road, the resistance caused by the slope in uphills and the reverse in downhills, and finally the force generated by the engine. There are two different ways to calculate the power that the engine generates, partly by using the maximum torque that the engine can generate, and partly by using the maximum engine power.
The maximum torque generated by the vehicle's driving wheel is determined by knowing the maximum torque generated by the engine and the driving torque of the driving wheels is obtained by multiplying by the total gear ratio of the driveline.
An advantage of using the maximum torque is that the torque curve is relatively constant for engine speeds at which the engine usually operates. A disadvantage may be that the force on the driving wheels is dependent on the gear ratio, which when driving on steep slopes probably changes, which affects the calculations and which must be taken into account.
By using the maximum engine power instead, the advantage is achieved that the power is the same for the entire driveline if minor friction losses are disregarded. This means that you do not have to take into account the gear ratio. The maximum engine power occurs at high engine speeds, which can mean that, for example, at moderate countersinks, the propulsive force can possibly be overestimated.
The calculations are based on a simplified vehicle model, for example, the moment of inertia of the driveline is not taken into account because in this context it has a small impact as the vehicle's mass dominates at higher gears. The losses along the driveline are also not included in the calculations.
The model contains equations for rolling resistance, air resistance and resistance on slopes.
As mentioned above, there are two ways to calculate the propulsive force applied by the engine.
The gravitational force results in a normal force on which the rolling resistance depends, and a force when driving on slopes, which in steep slopes has the greatest effect on the total resistance.
Taken together, this means that the time derivative of the momentum is equal to: Feng _ Fair _ Froll _ Fslope 10 15 20 25 30 Feng is the propulsive force calculated on the basis of engine power or torque.
Fair is the air resistance, FmH is the rolling resistance, and Fslope is the resistance on slopes.
Since these relationships are time dependent, the speed of a vehicle at the beginning and end of a horizon of known length can be calculated.
The calculation of the distance between the vehicles will now be described in detail.
The calculation uses an algorithm that produces an estimated distance between two vehicles an arbitrary distance in front of the vehicle behind. The arbitrary distance is limited by the length of the horizon that the map module handles and which is also used by intelligent cruise control, where the future horizon contains information about the slope of the road. According to one embodiment, the future horizon is two km, according to another embodiment, the future horizon is 600 meters.
The algorithm approximates the time t1 determined by the average speed during all segments of the horizon, which is the time it takes for the own vehicle, vehicle V1, to move from the nearest segment to the last segment in the horizon. The same calculation is made for the vehicle in front, vehicle V2, which is at a known distance Dp in front of the vehicle V1. This calculation starts from the segment closest to V2 and is made over the entire horizon of V2 and results in a time t2, which is the time that V2 needs to move through the entire horizon.
By using these calculated times, the distance DH between the vehicles V1 and V2 at the end of the horizon can be calculated. Then, after a predetermined time interval which may be of the order of a few seconds, a new calculation is made. In this way, the algorithm emits in real time a new estimated vehicle distance DH at the position one horizon in front of the vehicle V1.
The distance DH between the vehicles one horizon in front of the vehicle V1 is calculated with the following equation: 10 DH is the distance between the vehicles at the end of the horizon.
Dp is the current distance between the vehicles.
S1 is the distance traveled by vehicle V1 during time t1 S2 is the distance traveled by vehicle V2 during time t2.
The equation thus calculates the distance s2 that vehicle V2 would have driven at its average speed during the same time as vehicle V1 has been driven. Then this distance is subtracted by the distance sl and the result is the distance between the vehicles if they started from the same place. Therefore, this is then subtracted by distance with the current distance between the vehicles Dp. The distance between the vehicles therefore becomes negative when the vehicle V1 is behind the vehicle V2, which is shown in Figures 3 and 4.
The vehicle parameters VP2 required from the vehicle in front V2 are: the total weight of the vehicle, the speed of the vehicle, the position of the vehicle, and one or ﬂ your parameters related to the engine power of the vehicle, for example maximum engine power or maximum torque.
Vehicle weight is an important parameter and can be determined, among other things, by input data from various systems of the vehicle, such as the brake system, cruise control and other systems. It is also possible to determine the weight of the vehicle by measuring the pressure on the different axles of the vehicle.
Information on the maximum torque of the motor is available via CAN as a reference value for other torque values for the motor, which is included as part of this reference value. 10 15 20 25 30 ll The maximum power of the engine can be calculated on the basis of information about the engine torque at the engine speed, where the engine delivers maximum power.
Vehicle speed is available via CAN.
The equation includes the current distance Dp between the vehicles, which can be calculated on the basis of the positions of the vehicles determined by the GPS measurement.
Figure 3 shows a simulation with the two vehicles shown in Figure 1.
Along the y-axis, the distance between the vehicles is shown in meters. A negative distance means that the vehicle V1 is behind the vehicle V2. When the vehicles are parallel, the distance between the vehicles is thus zero. The X-axis denotes the length of the road in meters.
The vehicles are driven along a 9 km long section designated R with a 2 km long uphill slope.
The mutual distance of the vehicles is shown by the curve Dp (current distance) and is at start -200 m.
The vehicles have the same maximum power but weigh different amounts. The vehicle in front weighs 50 tonnes and the rear one 30 tonnes. The vehicle behind maintains a slightly higher speed, which means that the distance between the vehicles is constantly reduced. The line denoted Dm shows the function's estimate of the distance between the vehicles 2 km ahead.
For example, after about 3000 m, the function estimates that the vehicles will be parallel, which is illustrated by the ring marked with "1". At the ring marked with "2" you can see that the current distance actually became 0 m after 5 km driving. The driver of the vehicle behind can now, even before the hill, be informed that the distance will continue to decrease on the hill and overtaking may be appropriate.
The figure also shows a second line DH; which shows the function's estimate of the distance between the vehicles 600 meters ahead.
The arrow marked with A shows the position when the function has built up sufficient information to show the distance two kilometers in front of the vehicle V1, ie. when initialization is complete. 10 15 20 25 12 Figure 4 illustrates a scenario where the weights of the vehicles have been reversed, ie. the vehicle behind is now the heavier one. The same terms as in Figure 3 have been used.
In this case, it is seen that the distance will instead start to increase again when the vehicles enter the hill and the driver in the vehicle behind can then refrain from starting an overtaking.
The present invention is not limited to the preferred embodiments described above.
Various alternatives, modifications and equivalents can be used. The embodiments described above should therefore not be construed as limiting the scope of the invention as defined by the appended claims.
Reference numerals 2 assistance systems 4 position module 6 map module 8 map signal 10 communication module 12 communication link 14 bypass module 16 calculation unit 18 memory unit 20 instrument cluster

权利要求:
Claims (10)
[1]
An assistance system (2) arranged in a vehicle V1, said assistance system comprising: a position module (4) adapted to determine the current position of the vehicle, a map module (6) containing map data, and adapted to emit a map signal (8) comprehensive information defining a future horizon with a predetermined length for a future road section of the vehicle, a communication module (10) adapted to identify a vehicle V2, and to establish a communication link (12) with said vehicle for transmitting and receiving information according to a predetermined communication protocol, characterized in that the assistance system further comprises a bypass module (14) comprising a calculation unit (16) and a memory unit (18) where the overtaking module is adapted to receive a first set of vehicle parameters VP1 for the own vehicle V1, wherein the vehicle parameters comprise : the vehicle's total weight, speed and position, as well as one or ﬂ your related parameters to the engine power of the vehicle, the communication module (10) is adapted to receive a second set of vehicle parameters VP2 from the vehicle V2 where the vehicle parameters comprise at least the total weight, speed and position of the vehicle, and one or ﬂ your parameters related to the vehicle engine power, and transfer these vehicle parameters the bypass module (14) is adapted to determine that said vehicle V2 is a vehicle in front, and if the vehicle V2 is a vehicle in front, the calculation unit (16) in the bypass module is adapted to continuously calculate the distance D between the own vehicle and the vehicle in front at one or predetermined future positions for the own vehicle, based on the vehicle parameters VP1 and VP2, the calculated distances D are stored continuously in said memory unit (18), the calculation unit (16) is further adapted to analyze how D changes, the bypass module (14) being adapted to generate overtaking instructions r based on the analysis intended to be presented to the driver of the vehicle V1. 10 15 20 25 30 14
[2]
The assistance system according to claim 1, wherein the distance DH between the vehicles one horizon in front of the vehicle V1 is calculated by the following equation: I where DH is the distance between the vehicles at the end of the horizon; Dp is the current distance between the vehicles; S1 is the distance traveled by vehicle V1 during time t1, and S2 is the distance traveled by vehicle V2 during time t2.
[3]
Assistance system according to claim 1 or 2, wherein in said analysis it is ascertained whether the distance between the vehicles becomes zero and in that case the position of the vehicles is determined when this occurs.
[4]
An assistance system according to any one of claims 1-3, wherein said parameter related to the engine power of the vehicle is the maximum power of the engine.
[5]
An assistance system according to any one of claims 1-3, wherein said parameter related to the engine power of the vehicle is the maximum torque generated by the driving wheels of the vehicle.
[6]
Assistance system according to any one of claims 1-5, wherein said map data comprises information about the slope of the road, changes in the lane division of the road, about changed speed limitation.
[7]
Assistance system according to any one of claims 1-6, wherein said predetermined future position of the own vehicle is in the range 400-700 meters, preferably 600 meters.
[8]
Assistance system according to any one of claims 1-6, wherein said predetermined future position for the own vehicle is in the range 1.5-2 km, preferably 2 km. 15
[9]
An assistance system according to any one of claims 1-6, wherein said predetermined future positions for the own vehicle are 600 m and 2 km.
[10]
An assistance system according to claims 1-9, wherein said predetermined communication protocol is WLAN according to IEEE 802.11p.

类似技术:

公开号 | 公开日 | 专利标题

CN107257756B|2020-11-03|Techniques for assisting a vehicle in situations of varying road conditions

CN103221665B|2015-06-03|Driving support system and driving support managing device

CN103038802B|2015-06-17|Vehicle control system

CN102310859B|2015-08-19|The method of fuel-saving driving style, system and equipment is recommended in vehicle

JP6380274B2|2018-08-29|Navigation device for autonomous vehicles

CN107000589B|2019-08-27|Control the control system and method for power train

KR102225006B1|2021-03-08|Vehicle braking energy recovery method and device

CN103347757A|2013-10-09|System and method for optimizing fuel economy using predictive environment and driver behavior information

CN107063287B|2019-07-26|The information processing unit and method of information processing unit and method and vehicle

EP2827317B1|2020-01-08|Device for determining sensitivity to prediction of unexpected situations

CN105324805A|2016-02-10|Method and device for avoiding a possible subsequent collision and for reducing the consequences of an accident resulting from a collision

SE538766C2|2016-11-15|Method and control unit in a central node for determining a velocity profile for each vehicle comprised in a platoon of grouped vehicles

CN107107745B|2019-10-08|Control the control system and method for power train

SE1050999A1|2012-03-29|Assistance system for a vehicle to generate overtaking instructions

SE538817C2|2016-12-13|A method and a control unit for determining a set of velocity profiles for a platoon of grouped vehicles

SE539599C2|2017-10-17|Method and system for adapting a vehicle's acceleration when driving the vehicle along a route

KR20170005077A|2017-01-11|Method and system for the adaptation of the driving of a vehicle on a roadway in association with taking a curve

JP2016018495A|2016-02-01|Travel support device and travel support method

US10118604B1|2018-11-06|System and method for improved battery pre-charge and deactivation timing in traffic

CN112071064A|2020-12-11|Method and device for traffic signal state estimation based on reverse regular lane

KR20170007362A|2017-01-18|Method and system for improving the operating efficiency of a vehicle during driving of a vehicle along a route of travel

EP2952402A2|2015-12-09|Method and system for adaptation of the propulsion of a vehicle relative a preceding vehicle

EP3145778A1|2017-03-29|Method and system for adapting the velocity of a vehicle during driving of the vehicle along a route of travel

JP2019156249A|2019-09-19|Control device, transmission device, control method, transmission method, program, and storage medium

CN113246949A|2021-08-13|Automatic following distance in cruise control

同族专利:

公开号 | 公开日

SE535194C2|2012-05-15|

EP2434468A1|2012-03-28|

BRPI1104592A2|2015-05-19|

EP2434468B1|2016-07-06|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

DE102004019337A1|2004-04-21|2005-11-17|Siemens Ag|Assistance system for motor vehicles|

WO2006037360A1|2004-10-05|2006-04-13|Bayerische Motoren Werke Aktiengesellschaft|Driver information system for information on the possibility of carrying out overtaking manoeuvres|

DE102008042304A1|2008-09-24|2010-04-01|Robert Bosch Gmbh|A method of providing a recommendation to perform an overtaking maneuver|SE539648C2|2013-04-08|2017-10-24|Scania Cv Ab|Overtake Advisor|

US10762718B2|2017-02-17|2020-09-01|Fca Us Llc|System and method for determining minimal negative distance between two objects|

DE102017104592B4|2017-03-06|2020-10-08|Saf-Holland Gmbh|System to support a safe overhaul process|

法律状态:

优先权:

申请号 | 申请日 | 专利标题

SE1050999A|SE535194C2|2010-09-28|2010-09-28|Assistance system for a vehicle to generate overtaking instructions|SE1050999A| SE535194C2|2010-09-28|2010-09-28|Assistance system for a vehicle to generate overtaking instructions|

EP11182120.3A| EP2434468B1|2010-09-28|2011-09-21|Assistance system for a vehicle to generate overtaking instructions|

[返回顶部]