瑞典专利SE1351127A1 A system and method for correcting map data and vehicle train position data

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28SummaryA system and method for a vehicle strut comprising at least one conductor vehicle and a further vehicle each having a positioning unit and a unit for wireless communication. The system includes a profile unitconfigured to determine a profile for at least one vehicle in the vehicle stay withaided by position data and map data of a future wave, which contains at least one property of the future wave. The system also includes an analysis unit configured to determine at least one actual property of the future path, determining correction data [3 based on the future pathat least one actual property and the profile at least one property whereinthe actual property and the profile at least one property essentially refers to the same property and to communicate the correction data 13 to at least one vehicle fk the vehicle stay.(Fig. 3)
公开号:SE1351127A1
申请号:SE1351127
申请日:2013-09-30
公开日:2015-03-31
发明作者:Assad Alam；Kuo-Yun Liang；Henrik Pettersson；Jonas Mårtensson；Karl Henrik Johansson
申请人:Scania Cv Ab；
IPC主号:

专利说明:

A system and a nnetod for vehicle roofsFIELD OF THE INVENTIONThe present invention relates to a system and a method forvehicle roof. The vehicle roof includes at least one conductor vehicle and an additional onevehicles each having a positioning unit and a unit for wireless communication.
Background of the invention10 Traffic intensity is high on Europe's major roads and is expected to increase in the future. The increased transport of people and goods not only gives rise to traffic problems in the form of cows but also requires more energy, which in the end gives rise to emissions of greenhouse gases, for example. A possible contribution to solving these problems is that lazy vehicles travel more tatare in so-called vehicle stays (platoons).By vehicle stays is meant a number of vehicles which are carried at short distances between each other and driven as a unit. The short distances mean that more traffic can travel on the road, and also that the energy consumption of an individual vehicle reduces the air consumption. The vehicles in the vehicle roof are driven with an automated control for the vehicle's speed and / or steering wheel steering. Della medforthat vehicle drivers like truck drivers are relieved, accidents based onerroneous human decisions are reduced and fuel consumption can be reduced. Studies show that the industry access for the leading vehicle in the vehicle stay can be reduced by 2 to 10 "Yo and for the following vehicle 15 to 20% compared to a single vehicle. This is provided that the distance between the vehicles is 8 - 1625 meters and that they travel at 80 km / h. The reduced industry access results in a corresponding reduction in CO2 emissions.
Drivers are already taking advantage of this fact today with a sacred traffic safetyas a result. A basic Maga around vehicle roofs is how the time gap between30 vehicles can be reduced by a recommended 3 seconds down to between 0.5 and 1 second without affecting road safety. With distance sensors and camerasthe driver's reaction time can be eliminated, a type of technology already used today2systems such as ACC (Adaptive Cruise Control) and LKA (Lane Keeping Assistance). One limitation, however, is that distance sensors and cameras require a clear view of the target, which means that it is difficult to detect trades more than a couple of vehicles at the front of the Icon. A further limitation is that the cruise control cannot react proactively, i.e.The cruise control cannot react to actions that take place further in the traffic that will affect the traffic rhythm.
One way to get vehicles to act proactively is to get vehicles to communicate and exchange information. A developer of the IEEE standard 802.11 for WLAN(Wireless Local Area Networks) called 802.11p enables wireless transmission ofinformation between vehicles, and between vehicles and infrastructure. Different kinds of information can be sanded to and than vehicles, sasonn vehicle parameters and strategies. The development of communication technology has thus made it possible to design vehicles and infrastructure that can interact and act proactively. Vehiclecan be regulated as a unit and consequently shorter distances and one are possiblebetter global traffic flow.
Many vehicles today are equipped with a cruise control to make it easier for the goods to drive the vehicle. The desired speed can then be set by the driver throughfor example, a control in the steering wheel console, and a cruise control system in the vehicle affectsthen a control system so that it accelerates and brakes the vehicle to maintain the desired speed. If the vehicle is equipped with an automatic shifting system, the other person's the vehicle's gearbox so that the vehicle can maintain the desired speed.
When cruise control is used in hilly terrain, the cruise control system will trymaintain installed speed through uphill slopes. This sometimes causes the vehicle to accelerate over the crown and perhaps into a subsequent downhill slope and then need to be bronzed so as not to exceed the set speed, which constitutes an unloading way to drive the vehicle. By varying the vehicle'sspeed in hilly terrain, fuel can be saved compared to a conventional onespeed bumpers. If the future topology Ors kand because the vehicle has map data and positioning equipment, such systems can be made more robust and also3the speed of the other vehicle before things have happened, which can be achieved with so-called predictive cruise control (Look-Ahead Cruise control, LAC).
However, when an industry-optimal cross-strategy is to be developed for an entire vehicle roof, it will bethe situation more complex. Additional aspects must be taken into account, such asmaintained optimal distance, physically possible speed profile for all vehicles with varying mass and engine capacity. A further aspect of a vehicle stay during travel over varying topography is that when the first vehicle has lost speed on an uphill slope, it resumes its seat speed along the hill. The followingThe vehicles that are then still on the uphill slope will be forced to accelerate on the hill, which is not industry efficient. It is also not always possible, which meant that gaps will be created in the vehicle roof which in turn must be dropped again. This creates oscillations in the vehicle stay. Similar behavior is also observed under downhill slopes when the first vehicle begins to accelerate innedforsbacken p.g.a. the great mass. The subsequent vehicles are then forced toaccelerate before the downhill slope, as they try to maintain the condition of the vehicle in front. After the downhill slope, the leader vehicle begins to decelerate to return to the set speed. The subsequent vehicles, which are still on the downhill slope, will then be forced to brake so as not to cause a collision,which is not industry efficient.
A similar problem occurs when cornering. Galling an individual vehicle is possiblecalculate what maximum speed a vehicle should have inside the curve based on various factors such as Forer comfort, center of gravity, roller risk, topology, etc., through apredictive cruise control. However, it is not obvious how a vehicle roof should take the curve.If the first vehicle in the vehicle roof needs to decelerate in the curve from its set speed to complete the curve, it will resume its set speed after the curve. The following vehicles which are then still in the curve will be forced to accelerate in the curve, which may not be possible withoutexposed vehicles to risks such as awakening.4A possible solution to the above problem is to develop a control strategy for the entire vehicle roof, which takes into account the future varying topography. In order to achieve the possible benefits of gallant industry savings for vehicle roofs under varying topography, one needs to rely on map data. However, map data is not always accuratewith today's food instruments and often contains uncertainties / inaccuracies. Atincorrect map data can thus be kept at the wrong speed by the vehicle at the wrong time, and the expected industry savings will be less. Likasa kanthe position indication of the vehicle via its positioning equipment may be incorrect due to insufficient accuracy, etc.
EP0884666A1 describes a vehicle control system that addresses the problem of insufficient accuracy in GPS data. The vehicle's determination of its position with the GPS system is corrected with correction data than a GPS reference station in a base station at a kand position. In this way, errors such as satellite clock errors, orbital errors,etc. is corrected so that automatic steering of a vehicle can be realized. The vehiclehowever, the Than base station needs to be at least partially controlled.
The object of the invention is to provide a system which can independently correct inaccuracies in map data and / or position data and in this way enableindustry-specific regulation of a vehicle stay in the event of variations in the known lanedesign, such as topography and / or cornering.
Summary of the inventionAccording to one aspect, the purpose is achieved at least in part through a system for onevehicle roof. The vehicle roof includes at least one conductor vehicle and an additional onevehicles that each have a positioning unit and a unit for wireless communication. The system comprises a profile unit configured to determine a profile for at least one vehicle in the vehicle roof with the aid of position data and map data of a future vague, which contains at least one property for it.30 future vagen. The system further comprises an analysis unit configured to determine at least one actual property of the future path, to determine correction data 13 based on the future path of at least one actual path.property and the profile atnninstone a property; wherein the actual property and the profile of at least one property essentially refers to the same property, and to communicate the correction data 13 to at least one vehicle fk in the vehicle stay.5 The system can, for example, be implemented in the leader vehicle. In this way, the conductor vehicle can be used as a sensor or food probe for other vehicles in the vehicle roof. If the leader vehicle detects errors in, for example, map data, that information can be sent to the vehicle behind. Vehicles behind can then correct errors in data and cross-strategies, and for example start the strategy at onelater or earlier. The leader vehicle can correct its own data andcorpus profile by feedback of the fault. The correction can be initiated, for example, when the leader vehicle detects that the desired speed has not been reached when it starts the corn over, for example, a hill.
The invention achieves industry optimality and feasible cooperatives'corning. The observed error can also be reported to the flag central unit, and the error can be corrected for all vehicles on the road.
According to a second aspect, the object is achieved at least in part by a method for onevehicle struts comprising at least one conductor vehicle and an additional vehicleeach having a positioning unit and a wireless communication unit. The method comprises determining a profile for at least one vehicle in the vehicle roof with the aid of position data and map data of a future road, the profile containing at least one property of the future road. The method includesFurther determining at least one actual property for the future path, determining the correction data 13 based on the future path at least one actual property and the profile at least one property, the actual property and the profile at least one property essentially referring to the same property, and communicating the correction data 13 to at least one vehicle fk in30 vehicle roof.6According to a third aspect, the purpose is at least partly achieved through a computer program Pin a system, where said computer program P includes program code to cause the system to perform some of the method steps described herein.
According to a fourth aspect, the purpose is achieved at least in part by acomputer program product comprising a program code stored on a computer readable medium to perform any of the method steps described herein.
PREFERRED EMBODIMENTS are described in the dependent claims and in itdetailed description.
Brief description of the attached figuresThe invention will be described below with reference to the accompanying figures, of which:Fig. 1 illustrates an example of a vehicle roof.
Fig. 2 schematically illustrates a vehicle in the vehicle stay.
Fig. 3 shows a system according to an embodiment.
Fig. 4 illustrates an example of a vaginal horizon.
Fig. 5 shows an example of a vehicle stay at the beginning of an uphill slope.
Fig. 6 shows a pillar on a vehicle roof at the beginning of a curve.
Fig. 7 shows a flow chart according to an embodiment of the invention.
Detailed Description of Preferred Embodiments of the Invention DefinitionsLAC (Look-Ahead cruise control): A cruise control that uses informationabout the topography of the oncoming vehicle and calculates an optimal driving profile in the form of a speed trajectory for a vehicle. KaIlas is also a predictive speedster.
LAP (Look-Ahead cruise control for platoons): A cooperative cruise control that uses information about the topography of the upcoming carriage and calculates aoptimal speed trajectory for all vehicles in one vehicle stay. KaIlas aven predictivespeedometers for vehicle roofs. The control strategy is determined, for example, by dynamic programming.7vk: the speed of the vehicle fk in the vehicle roof with N vehicle.dk, k + i - the distance between the vehicle fk and the vehicle behind fk + i in the vehicle stay.ak: the slope of the vehicle fk.
V2V (Vehicle to vehicle) communication: Tracilo's communication between vehicles,also called vehicle-to-vehicle communication.
V21 (Vehicle to infrastructure) communication: Tracilo's communication between vehicle and infrastructure, such as a vehicle or computer system.
Fig. 1 shows a vehicle stay with N heavy vehicles fk moving forward with smallspacing dk, k.0 between vehicles up a hill. The vehicles in the vehicle roof are driven with automated steering for speed and / or steering wheel steering. The inclination of the vehicle when the Icor uphill is shown as ak. Each vehicle fk is equipped with a receiver and transmitter for wireless signals, shown partly with an antenna.The vehicles fk in the vehicle stay can thus communicate with each other by V2V communication or other means such as through mobile communication units, via an application in a communication unit or via a server, and to infrastructure in the form of V21 communication. The communication can, for example, give Than a vehicle and via a vehicle node to another vehicle. The differentthe vehicles fk have different nnassor nnk. The vehicle roof has a leader vehicle, i.e. the firstvehicle fi. Each vehicle fk in the vehicle roof has, for example, a unique vehicle identity, and a vehicle roof identity that is common to the entire vehicle roof, in order to be able to keep track of which vehicles are included in the vehicle roof. Data sent wirelessly between the vehicles in the vehicle stay can be tagged with these identities so that data likereceived can be harled to raft vehicles.
Fig. 2 shows an example of a vehicle fk in the vehicle stay, has the conductor vehicle fi, and how it can be equipped. The vehicle fk is provided with a positioning unit 2 which can determine the position of the vehicle fk. The positioning unit 2 can, for examplebe configured to receive signals from a global GNSS positioning system(Global Navigation Satellite System) for example GPS (Global Positioning System), GLONASS, Galileo or Compass. Alternatively, the positioning unit can82 be configured to take ennot signals Than for example one or more detectors in the vehicle which supply relative aystand to for example a car node, vehicles in the environment or the like with kand position. Based on the relative distances, the positioning unit 2 can then determine the vehicle fk's own position. OneThe detector may also be configured to sense a signature in, for example, a car node, the signature representing a certain position. The positioning unit 2 can then be configured to determine its position by scanning the signature. The positioning unit 2 can instead be configured to determine the signal strength of one or more signals Than several base stations and / or10 carriage nodes etc. with kand position, and thereby determine the position of the vehicle fk by triangulation. Of course, the above techniques can also be combined to secure the position of the vehicle fk. The positioning unit 2 is configured to generate a position signal containing the position of the vehicle fk, and to transmit this to one or more units in the vehicle fk. The vehicle fk is as already mentionedaven provided with a device 3 for wireless communication. Unit 3 is configuredto act as a receiver and transmitter of wireless signals. The unit 3 can receive wireless signals Than other vehicles and / or wireless signals from the infrastructure around the vehicle fk, and true wireless signals to other vehicles and / or wireless signals to the infrastructure around the vehicle fk. The wireless signals may include20 vehicle parameters from other vehicles, for example mass, torque, speed and even more complex information such as gallant raft profile, crossover strategy etc. with one or more detectors 8 for sensing the environment, for example oneradar unit, laser unit, tilt feeder, acceleration feeder, steering wheel angle feeder, agyro etc. These detectors are in Fig. 2 generally marked as a detector unit 8, but can thus consist of a number of different detectors placed in different places in the vehicle fk. The detector unit 8 is configured to sense a parameter, for example a relative distance, velocity, inclination, longitudinal acceleration, lateralacceleration, rotation, steering angle, engine power, etc., and to generate adetector signal containing the parameter. The detector unit 8 is furtherconfigured to transmit the detector signal to one or more devices in the vehicle fk.9The vehicle fk is also equipped with a map unit 6 which can provide map information on the upcoming road. The driver can, for example, indicate an end position and the map unit 6 can then, by knowing the current position of the vehicle, provide relevant map data about the coming road between the current position andthe final destination.
The vehicle fk communicates internally between its various units via, for example, a bus, for example a CAN bus (Controller Area Network) which usesa message-based protocol. Examples of other communication protocols10 that can be used are TTP (Time-Triggered Protocol), Flexray and others. In this way, signals and data described above can be exchanged between different units in the vehicle fk. Signals and data can, for example, instead be transmitted wirelessly between the different devices.
Fig. 2 also shows an analysis unit 5 and a control unit 7, which can not exist in a system1 according to the invention. Fig. 3 shows an example of the system 1 which can be used for a vehicle roof. The system 1 operates via, for example, the first vehicle fi in the vehicle stay which acts as a nnatin instructor for the vehicle stay. In this way, data etc. can be corrected for the vehicles in the vehicle roof to be able to drive the vehicles onan industry saving set according to a true driving strategy for the entire vehicle roof.
System 1 will now be described in more detail with reference to Figures 3-6. The system 1 comprises a profile unit 4 which is configured to determine a profile for at least one vehicle in the vehicle stay with the aid of position data and map dataof a future vague. The profile contains at least one property for the futurevagen. The system 1 also contains the analysis unit 5 which is configured to determine at least one actual property of the future road, determine the correction data 13 based on the future road at least one actual property and the profile at least one property whereby the actual propertyAnd the profile at least one property essentially refers to the same property, and to communicate the correction data 13 to at least one vehicle fk in the vehicle stay. The system 1 can, for example, be implemented in the conductor vehicle f1. The leader vehicle fi can then10use the correction data 6 to update its own position and / or its own map data, and generate a corrected position pc °, and / or corrected map data G. For example, a control unit 7 in the system 1 may be configured to communicate the correction data 6 and thereby correct the data. Correction data 6 can alsois indicated to the driver of the vehicle to draw its attention to the fact that it is faultydata. According to one embodiment, the analysis unit 5 is configured to generate a correction signal indicating the correction data 6, and send the correction signal to at least one vehicle fk in the vehicle stay. In this way, other vehicles in the vehicle roof can correct their data independently. System 1 is according to aembodiment placed in an external unit, for example a carriage node or centralunit.
To achieve the possible benefits of gallant fuel savings for vehicle roofs under varying topography, one needs to rely on map data. The profile unit 4 usesmap data Than map unit 6 with existing, predetermined map data todetermine a profile for the vehicle. By knowing the current position of the vehicle and an end destination, the profile unit can indicate a future carriageway for the vehicle with direct properties for the carriage according to the map data in positions according to the map data. The direct properties are, for example, slope a or curve radius r. This futurecarriageway with characteristics can be called the vehicle horizon. The horizon is typicalabout 2 km long with the vehicle's position as a starting point. The horizon can also indicate positions and properties of the vehicle already passed. The profile unit 4 can also be configured to determine a predictive cruise control strategy for the vehicle. The profile unit 4 can then be configured to determine a profile forThe vehicle containing at least one indirect property of the future road based on a predicted dynamic behavior of the vehicle along the future road. An indirect property is, for example, something of a predicted speed v or predicted acceleration a for the vehicle fk. A profile with predicted speed v or acceleration a for the vehicle fk is also called a body profile for the vehicle fk.Examples of how such a corpus profile can be determined will be explained in the following. The analysis unit 5 is according to this embodiment configured to determine at least one actual indirect property of the future path based11on an actual dynamic behavior of the vehicle, and to determine correction data 13 based on the at least one actual indirect property of the future car and at least one indirect property of the profile.
A predicted dynamic behavior for the vehicle may, for example, be that of the vehicleshall have maximum fuel injection at a certain position in the profile. This maximum fuel injection shall give rise to a certain desired predicted speed v for the vehicle fk in a certain position along the given future road according to map data and position indication to drive the vehicle fk in a desired manner. ! fall of the vehicleactual speed then becomes smaller at the position p of the predicted speedv, so the actual hill started earlier than what was determined by map data and positioning. The vehicle has thus paved the hill on an earlier occasion than predicted, and then begins to lose speed earlier. In this way, one can discover that there is an error in the map data and / or position information. The dynastic behavior f6rThe vehicle can be predicted, for example, by dynamicprogramming algorithms. A dynamic programming algorithm can, for example, go through a number of conceivable solutions and select the best one according to certain criteria. In this way, you can establish a profile with a number of speed bores Vref different positions in the profile. The actual indirect property of the vehicle fk can thenbe the vehicle's achieved actual speed vf along the road, which suddenly does notstems at the speed vref it should have according to the profile. By, for example, determining where in the profile the vehicle's actual speed vf substantially corresponds to the predicted speed vref, then one can determine the correction data [3. By "essentially Corresponding Tribes" meant, for example, that vfand vref correspond morn certain intervals. A trait for the futurethe road can thus be either a direct property such as a slope or curve radius, alternatively an indirect property such as a speed or acceleration which thus indirectly says something about the direct properties of the future road based on how you want the vehicle to be driven over it30 future vagen.12An example pile on a profile is shown in Fig. 4. The profile includes has properties VPI-11, VPH2 ... VPHx in their respective positions in the profile PHi, PH2..Py. The properties shown have point by point, but they can instead be intervals in the form of a certain property over a certain distance. For example, the profile can be divided into car segments witha certain feature, such as a steep uphill or downhill slope or aspeed or acceleration. The properties can also overlap, for example the scales can simultaneously swing and have a slope. A position PH i (clar j = 1 ... Y) in the profile can then have several properties. A property can be a direct property, for example something of a slope a or curve radius r. Alternatively, a property canbe an indirect property such as a speed v or acceleration a.
The map data indicates the topography of the carriage. However, map data is not always accurate with today's food instructor and contains uncertainties and / or inaccuracies. The profile unit 4 also needs to rely on the position indication from the positioning unit of the vehicle2. Although the positioning systems used by the positioning unit 2 become better and better, errors may occur in the final position indication of the vehicle. According to one embodiment, the vehicle fk comprises the map unit 6 with existing map data and a control unit 7 which is configured to correct existing map data in the vehicle fk in accordance with the correction data 6, and generate corrected map data oak.
The control unit 7 can also or instead be configured to correct the vehicle fk: sposition indication in accordance with the correction data 6 and generate a corrected position nr- co rrk for the vehicle fk. According to one embodiment, the analysis unit 5 is a part of the control unit 7. In Fig. 3 this is shown by the control unit 7 being shown as a dashed line.
The control unit 7 can also or instead be configured to correct an existing crossover strategy for the vehicle fk in accordance with the correction data 6, determine a corrected crossover strategy (Pk for the vehicle fk, and generate a crossover strategy signal indicating the corrected crossover strategy (Pk. Example of how a crossover strategy candesigned will be explained in the following. The cross-strategy signal can, for examplesandas to all the vehicles in the vehicle stay said that they may take part in a correct cross strategy. Alternatively, the correction data 13 can be sanded to the vehicles in the vehicle roof.13The control unit 7 can then be configured to correct map data ek, position Pk, cross strategy (Pk etc. for the vehicle fk holding the control unit 7.
All or flag data can also be sanded to a car node or central unit. A globalerrors in, for example, map data can then be reported to all vehicles on the road that cancommunicate tradlOst.
According to one embodiment, a unit, for example the detector unit 8, is configured to determine a status parameter VPF which describes the actual propertyat the actual wave and to generate a signal indicatingthe status parameter VPF. The VPF status parameter can, for example, indicate the actual speed of the vehicle or the actual acceleration of. Figures 5 and 6 show examples of a vehicle roof in two different road situations with different topography. Fig. 5 illustrates that the guide vehicle in the vehicle roof has just started to run up a hill.
The bottom of the figure illustrates what the scales look like according to the profile. A tilt sensor inthe vehicle determines has the status parameter VPF to be the slope ai. The analysis unit 5 is further configured to receive the status signal and determine a position PV for the status parameter VPF of the actual path. The position PV for the status parameter VPF is determined, for example, by noting the analysis unit 5the position indication tan the positioning unit 2 at the same time t as VPFbestams. The analysis unit 5 is further configured to determine a position PHi for var in the profile as the path according to map data essentially behaves according to the status parameter VPF, alternatively var in the profile as the predicted speed v or acceleration a is essentially the same as the status parameter VPF. With"substantially" means that the vehicle, or the VPF status parameter, may notwill behave exactly like the predicted profile due to possible uncertainty in the calculation model, small irregularities in the ground that can cause the vehicle's speed to vary, detector noise, etc. By "substantially" this meant, for example, that the predicted weight and the status parameter VPF correspond withinappropriate range for respective size. Status parameters in the gas profile iethrough to determine a position PHI in the profile as the status parameter VPF is as similar to the flag profile property VPHI (where i = 1 ... X) as possible. According to one embodiment said14only an interval around the vehicle's position PV where VPF was passed is examined, in order to avoid matches in, for example, another hill in the profile. The interval is, for example, ± 50, ± 40, ± 30, ± 20, ± 10 or ± 5 m. According to one embodiment, the position is PV at the beginning of the hill, and can then be matched to an beginning ofcorresponding slope in the profile. According to another embodiment, the position is PVimmediately after a completed hill, and VPF indicates to cla that the road is flat, ie the slope is essentially zero. VPF can then be matched to a similar property has the profile, ie a transition Than hill to flat vague. In the example in Fig. 5 sa, the profile property VPH6 at point PH6 is essentially the same as VPF.The analysis unit 5 is further configured to determine a difference AP between the positions PV and PHi, and to calculate correction data 13 based on the difference AP. In the example in Fig. 5, this meant that the difference in the position PV and its equivalent in the profile PH6 is determined.
Map data can also contain inaccuracies such as incorrect indication ofheight on hill, incorrect curve radius, etc. To find such errors, the analysis unit is configured to determine the correction data 13 by also being configured to identify the profile property VPH, in the determined position PH ,, determine a difference AVP between VPF, and VPH; and determinecorrection data 13 also based on the difference AVP. In the example shown in Figs.so this meant that when the position PH6 has been determined, the property VPH6 is identified, which in this case is the slope a2. This slope a2 is compared with the vague property VPF1 son in this case the actual slope a1 and a difference AVP between them is determined. The correction data 13 can then also be determined onthe difference AVP, and thus specify a height difference for the map data. In a similar way canan indirect property such as speed v or acceleration a is used, where the predicted and measured speed v or the acceleration a is compared and the correction data 13 is determined by arbitrary deviations between the predicted and measured speed v and the acceleration a, respectively.
The positions can be geographical coordinates in longitude and latitude according to the international standard ISO 6709, 2008. The correction data 13 can thus include, for example, a difference in latitude, and a difference in longitude. The height can also be specified according to ISO 6709, 2008. The correction data 13 can also include onedifference in height.
Fig. 6 shows an example of a vehicle stay when the conductor vehicle in the vehicle stay has just started to drive into a curve. The detector unit 8 in the conductor vehicle can then, by detecting the steering angle or the lateral acceleration of the vehicle, determine whichactual curve radius r that the curve has. Similar to the example illustrated in FIG.then the analysis unit can be configured to determine a position PV for the wagon status parameter VPF of the actual wagon. VPF is in this case a measured and fixed radius r. This takes place at the entrance to the curve at the position PV, but can be in intervals etc as explained in connection with Fig. 5. The position can alsois determined in a manner similar to the example in Fig. 5. The analysis unit is furtherconfigured to determine a position PHJ for var in the profile that the scale according to map data essentially behaves according to the status parameter VPF. A difference AP is determined between the positions PV and PHI, and the correction data 13 is determined based on the difference AP.
In a manner similar to the example in Fig. 5, an error in the property itself can be determined. The analysis unit 5 is then configured to determine the correction data 13 by also identifying the property VPH property, in the determined position PHI, determining a difference AVP between VPF (has the property r) and VPH, anddetermine the correction data 13 based also on the difference AVP.
The knowledge of what there is for errors in map data, position data, etc., is particularly useful in a vehicle roof when the vehicles in the vehicle roof use cruise control that uses information about the upcoming road. Such a predictive cruisercan be called LAC. In order to be able to refuel industry and time savings, it is oneAssuming that data such as map data and position data to LAP matches16with reality. Predictive cruise control, also called predictive cruise control, is a predictive control scheme with knowledge of some of the future disturbances, has the guard topography. An optimization is performed with respect to a criterion that involves a predicted future behavior of the system. An optimal solution socks have5 over the problem over the delimited profile, which phase by truncating the entire horizon of the choir mission. The aim of the optimization is to minimize the required energy and time for the vehicle assignment, while keeping the vehicle's speed within a certain range. The optimization can be performed with, for example, MPC (Model Predictive Control) or an LQR (Linear Quadratic Regulator) m.a.p. all minimizeindustry access and time in a cost function J based on a non-linear dynamics andindustry access model for the vehicle fk, restrictions on steering signals and restrictions on the maximum absolute deviation from the driving speed, for example 5 km / h. An example of how such optimization can be performed is described in "Look-ahead control of heavy vehicles", E. Hellstrom, Linkoping University, 2010.
A vehicle model that describes the main forces that affect onevehicles in motion are described therein according to:dvMt,= Fmotor - Fbrake - Air resistance (v) - Rolling (a) - F gravity (a)dtitifilt pq lf f1= 1 We) 6) - Fbrake - -2 CDAapa V2 - Cring cos a - mg sin a, (1)rwwhere a denotes the inclination of the carriage, CD and cr are characteristic coefficients, g denotes the gravitational force, pa is the air density, rw is the wheel radius, and it, if, nt, rlf are transmission and gear-specific constants. The acceleratingfordonsnnassan mt (miwie, it, if, qt, depends on gross mass m, wheel inertia Jw,motor inertia Je, gearshift gear ratio and efficiency it, qt as well as the finalthe choir exchange and the efficiency if, ripThe predictive accelerator LAC increases the vehicle's speed in advance in front of a steep uphill slope which cla receives a higher average speed when the vehicle travels along the steep uphill slope. In the same way, the speed before the vehicle is reduced17goes into a steep nerfors hill. The speed of the vehicle can be allowed to decrease to the minimum speed on an uphill slope and accelerate again lost speed until after the crown, i.e. pa plan vag. If the uphill slope is followed by a downhill slope, the speed can be kept at a lower level in the uphill slope to avoid braking indownhill because the speed of the vehicle is too high and instead use itpotential energy the vehicle derives from its weight on the downhill slope. Both time and fuel can be saved.
A minor vagal slope a can be described as:dar al <a <kr Tea (smaxxoe) -kilv7= '> 0kfTe (coe) —kftvif <0al =k.is the steepest slope for which the speed can be maintained in aUphill with maximum engine torque, and al is the steepest slope for which a heavy vehicle can maintain a constant speed by rolling out and not having to brake. Steep slopes are defined as road segments with a slope outside the range in (2). As previously described, the profile can be divided into different car segments. One property could be, for example, a car segment on the horizonclassified as a steep uphill or downhill slope with a slope outsidethe interval i (2).
By providing correct map data and position data to the predictive cruise control, can a correct cross strategy, ie correct crane profile, for the vehicle in the vehicle stayerhallas. The raft profile contains the velocity drill bit vref orthe acceleration bore value aro for the vehicle fk in positions along the profile.
The system 1 in the conductor vehicle can, according to one embodiment, detect that there is a fault in a disassembled body profile (which has not yet been corrected) by comparing the vehicle'sactual velocity vf or acceleration of at an actual point in the raven profile, for example18i! Dolan of a hill, with the speed drill vref as it should have been in the same position in the profile. In case vf is not essentially the same speed as vref in the same position according to the profile sa, the control unit 7 can be configured to determine the correction data 13 and then corrected map data ek, position n, corrk and / orchoir profile (pk according to correction data (I Determination of correction data 13 etc. canthus initiated by the leader vehicle detecting that it has the wrong speed in its actual position compared to the speed it should have had in the position according to the raft profile.
According to one embodiment, the system 1 is configured to determine correction data 13for each of a plurality of vehicles in the vehicle stay, compare the respective correction data with each other and determine an overall correction data Psup based on the result of the comparison. If, for example, the dynamic behavior of the vehicle is not what it would be, for example if the noted torque of the vehicle does not occur,15 so one can breathe find out the overall correction data Psup which is correct. For example, correction data 13 for three different vehicles can be determined. If it is based on the same map data and it is assumed that the error in position indication is the same for the different vehicles, then different values on the correction data may indicate that there is an error in the dynamic behavior of the vehicle. fall two of the three determinedthe correction data are essentially the same, or equal within a certain range, so you canassume that the two correction data indicate the correct correction data and enter their correction data as the parent correction data 13 „p.
Even when a position-based cooperative cruise control, a LAP, is to be implemented25 for the entire vehicle roof, it is a prerequisite that data such as map data and position data for LAP correspond to reality in order to obtain fuel industry and time savings. An LAP thus determines a common cross-strategy for the entire vehicle stay.
Control unit 7 shown in Fig. 3 is according to one embodiment configured todetermine a common driving strategy for the vehicles in the vehicle roof. The control unit 7 isconfigured according to this embodiment define a raven profile for at least19the vehicle fk in the vehicle roof based on the profile atnninstone a property, wherein the core profile contains the drill value for the vehicle fk in positions along the horizon. The analysis unit 5 is configured to determine a crossover strategy for the vehicles in the vehicle stay based at least on the crane profile of the vehicle and the correction data.[3 and to communicate the crossover strategy to all vehicles in the vehicle stay. Control unit 7 andthe analysis unit 5 thus together implements a form of LAP. The drilling values can be, for example, the velocity drilling value vref, the acceleration drilling value aref or the distance drilling value dref. According to one embodiment, each vehicle fk comprises a control unit 7 which is configured to determine a driving profile for each vehicle fk.
The analysis unit 5 is configured to analyze according to one embodimentthe raft profiles to determine a selected raft profile as a cross-strategy for the vehicles in the vehicle stay.
Before the vehicle profile is communicated to the vehicles, the positions in the vehicle profile can be mapped to actual positions along the coming road, so that the vehicles in the vehicle stayscan regulate its speed according to the drilling values in the same actual positions along the road. This applies to all embodiments.
There are different ways to determine a selected corps profile. For example, the selectedthe choir profile is determined to be the choir profile that has existed for the most partlimited the vehicle in the vehicle roof. Examples of the most limited vehicle have been described above. The most limited vehicle can also be determined to be the vehicle that has the largest speed fluctuations in its driving profile in and / or around an upcoming hill and / or curve. To determine which choir profilethat is, as cla becomes the selected choir profile, so the analysis unit is 7configured to determine a difference value Off for each chorus profile indicating the largest difference between a maximum speed vmax and minimum speed vmin, compare the difference value Off for the different chorus profiles with each other and to determine a selected chorus profile that has the largest difference value Av based on the comparison.
The maximum velocity vrnax an one of the velocity drill values vref in the raft profile, andnnin velocity vm, n is one of the velocity bore values vref in the raft profile in and / or around an upcoming hill and / or curve.
The analysis unit 5, the control unit 7 and the profile unit 4 can be one or moreprocessor units and one or more memory units. Other devices canfor example, include a processor unit and memory. A processor unit can be a CPU (Center Processing Unit). A memory device may include a volatile and / or non-volatile memory, such as flash memory or RAM (Random Access Memory). The processor unit may be part of a computer orcomputer systems, such as an ECU (Electronic Control Unit), in a vehicle 2.
Fig. 7 shows a flow chart of a method for a vehicle stay as described above. The method can be implemented as a program code in a computer program P shown as part of the analysis unit 5 in Fig. 3. The program code P can cause the system 1 toperform some of the steps according to the method when it '<ors on a processor unit insystem 1 (Fig. 3). The method will now be explained with reference to the flow chart in Fig. 7. The method comprises determining a profile for at least one vehicle in the vehicle roof using position data and map data of a future road, which contains at least one property of the future road (A1).20 Atnninstone an actual property of the future wagon existed (A2). The method further comprises determining correction data 13 based on the at least one actual property of the future car and at least one property of the profile, the actual property and the at least one property of the profile essentially referring to the same property (A3). A property can be, for example, something of a slope a,curve radius r, velocity v or acceleration a. The correction data 13 can, for exampledetermined by determining a status parameter VPF which describes the actual property of the actual road, determining a position PV for the status parameter VPF of the actual road, determining a position PH in fOr where in the profile the road according to map data essentially behaves according to the status parameterVPF, determine a difference AP between the positions PV and PH and determine the correction data 13 based on the difference P. Correction data can also be determined by identifying the profile property VPH; in the determined21position PHJ, determine a difference AVP between VPF and VPH, and determine the correction data 13 based also on the difference AVP.
Thereafter, the correction data 13 is communicated to at least one vehicle fk in the vehicle stay(A4). The correction data 13 can be used in different ways. For example, the vehicle can fkcorrect existing map data in the vehicle fk and / or the vehicle fk's position in accordance with the correction data 13. The vehicle fk can also or instead correct an existing cross strategy for the vehicle fk in accordance with the correction data 13 and determine a corrected cross strategy. Then the vehicle is adjusted according to the corrected onek6rstrategin.
In order to determine a crossover strategy for the vehicles in the vehicle roof, the method according to one embodiment comprises determining a crane profile for at least the vehicle fkthe vehicle roof based on the profile at least one property, whereby the core profilecontains the drill guard for the vehicle fk in positions along the horizon. Then determineda crossover strategy for the vehicles in the vehicle roof based at least on the carriage profile of the vehicle according to the correction data 13, and the driving strategy is communicated to all vehicles in the vehicle roof.
According to one embodiment, a chore profile for each consisted of a plurality of vehicles invehicle roof. The corps profiles analyzed cla to determine a selected corpus profile as a cross strategy for the vehicles in the vehicle stay.
According to another embodiment, the method also comprises determiningcorrection data 13 for each of a plurality of vehicles in the vehicle stay, cf.respective correction data with each other and determine a parent correction data 13 based on the result of the comparison. In this way, you can compensate for any vehicle dynamics errors.Other embodiments that can also be applied as a method have been described in connection with the description of the system. The invention also comprises acomputer program product including program code P stored on one, by a computer22readable, medium for performing the nnetode steps as described herein. The computer program product may be, for example, a CD.
The present invention is not limited to those described abovethe embodiments. Different alternatives, modifications and equivalents can be used.
Therefore, the above-mentioned embodiments do not limit the scope of the invention, which is defined by the appended claims.23

权利要求:
Claims (21)
[1]
A profile unit (4) configured to determine a profile for at least one vehicle in the vehicle roof using position data and map data of a future road, which contains at least one property of the future road; An analysis unit (5) configured to - determine at least one actual property of the future scale; - determining correction data 6 based on the at least one actual property of the future road and at least one property of the profile; wherein the actual property and the profile of at least one property essentially refer to the same property; communicate the correction data 6 to at least one vehicle fk the vehicle stay.
[2]
The system (1) according to claim 1, which comprises generating a correction signal indicating the correction data 6, and sending the correction signal to atnninstone a vehicle fk in the vehicle stay.
[3]
The system (1) according to claim 1 or 2, wherein the vehicle fk comprises a map unit (6) with existing map data and a control unit (7) configured to correct existing map data in the vehicle fk in accordance with the correction data 6, and generate corrected map data oak, and / or configured to correct the position indication of the vehicle fk in accordance with the correction data 13 and generate a corrected position P - corrk for the vehicle fk.
[4]
The system (1) according to any of the preceding claims, wherein the vehicle fk comprises a control unit (7) configured to correct an existing crossover strategy for the vehicle fk in accordance with the correction data 6, determining a corrected crossover strategy (Pk for the vehicle fk, and generate a cross strategy signal son indicates the corrected cross strategy (Pk.
[5]
The system (1) according to any one of the preceding claims, which is configured to determine correction data 13 for each of a plurality of vehicles in the vehicle roof, compare the respective correction data with each other and determine an overall correction data Nur, based on the result of the comparison.
[6]
The system (1) according to any one of the preceding claims, comprising 1. a unit configured to determine a status parameter VPF describing the actual property of the actual carriage and to generate a signal indicating the status parameter VPF; wherein the analysis unit (5) is configured to determine the correction data 13 by - determining a position PV for the status parameter VPF of the actual path; 2. determine a position PHJ for where in the profile the road according to map data essentially behaves according to the status parameter VPF; 3. determine a difference AP between the positions PV and PHJ; - determine the correction data 13 based on the difference P.
[7]
The system (1) according to claim 6, wherein the analysis unit (5) is configured to determine the correction data 13 by also 1. identifying the property VPH property, in the determined position PHI; determine a difference in AVP between VPF and VPH; 2. calculate the correction data 13 based also on the difference AVP.
[8]
The system (1) according to any of the preceding claims, wherein a property is something of a slope a or curve radius r.
[9]
The system (1) according to any one of claims 1 to 7, wherein the profile unit (4) is configured to 1. maintain a profile for the vehicle that contains at least one indirect property of the future road based on a predicted dynamic behavior of the vehicle along the future road. vagen; wherein the analysis unit (5) is configured to - determine at least one actual indirect property of the future road based on an actual dynamic behavior of the vehicle; and 2. determining the correction data 13 based on the at least one actual indirect property of the future vehicle and the at least one indirect property of the profile.
[10]
The system (1) according to claim 9, wherein an indirect property is any of a speed v or acceleration a.
[11]
A method for a vehicle stay comprising at least one conductor vehicle and a further vehicle each having a positioning unit (2) and a unit for wireless communication (3), the method comprising: 1. determining a profile for at least one vehicle in the vehicle stay with using position data and map data of a future wave, which contains at least one property of the future wave; 2. determine at least one actual property of the future wave; fixed correction data 13 based on the future car's at least one actual property and the profile at least one property, the actual property and the profile at least one property essentially refer to the same property; 3. communicate the correction data 13 to at least one vehicle fk in the vehicle stay.
[12]
The method according to claim 11, comprising the vehicle fk correcting existing map data in the vehicle fk and / or the position of the vehicle fk in accordance with the correction data 13.
[13]
The method according to claim 11 or 12, which comprises that the vehicle fk corrects an existing crossover strategy for the vehicle fk in accordance with the correction data 13 26 and comprises a corrected crossover strategy (Pk, after which the vehicle fk is regulated according to the corrected crossover strategy (Pk).
[14]
The method according to any one of claims 11 to 13, which is configured to determine correction data 13 for each of a plurality of vehicles in the vehicle stay, compare the respective correction data with each other and determine an overall correction data Nur, based on the result of the comparison.
[15]
The method of any of claims 11 to 14, comprising determining the correction data 13 by 1. determining a VPF status parameter describing the actual property of the actual vehicle; 2. determine a position PV for the status parameter VPF of the actual wagon; - determine a position PHJ for where in the profile the road according to map data essentially behaves according to the status parameter VPF; 3. determine a difference AP between the positions PV and PHJ; 4. determine the correction data 13 based on the difference P.
[16]
The method of claim 15, comprising comprising 1. identifying the profile property VPH, in the determined position PHI; 2. determine a difference AVP between VPF and VPH; 3. calculate the correction data 13 based also on the difference AVP.
[17]
The method of any of claims 11 to 16, wherein a property is any of a slope a or curve radius r.
[18]
The method of any of claims 11 to 16, comprising 1. determining a profile for the vehicle that contains at least one indirect property of the future road based on a predicted dynamic behavior of the vehicle along the future road; 27 2. bestannnna atnninstone an actual indirect property of the future road based on an actual dynannical behavior of the vehicle; 3. determine the correction data 13 based on the future path of at least one actual indirect property and the profile at least one indirect property.
[19]
The method of claim 18, wherein the indirect property of the future carriage is something of a speed v or acceleration a.
[20]
Computer program, P, in a system (1), wherein said computer program, P, comprises program code for causing the control unit (8) to perform some of the steps according to claims 11 to 19.
[21]
A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 11 to 19. 1/4

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法律状态:

优先权:

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PCT/SE2014/051114| WO2015047176A1|2013-09-30|2014-09-26|A system and a method for the correction of map data and positional data for vehicle platoons|

EP14848197.1A| EP3052355B1|2013-09-30|2014-09-26|A system and a method for vehicle platoons comprising at least two vehicles.|

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