• 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:
    537 992 Sammandraci Method and control unit for regulating the speed of a vehicle in a remote-controlled vehicle roof when reversing, the vehicle roof comprising a first vehicle A and a second vehicle B and the first vehicle A being a directly forward vehicle to the second vehicle B. The control unit is located in the second vehicle B and comprises a speed unit configured to determine an acceleration value of the first vehicle A which describes how much the first vehicle A accelerates. The control unit also comprises a reversing unit which is configured to determine whether the first vehicle A is traveling on a steep downhill slope, and a calculating unit which is configured to compare the acceleration value al with an acceleration constant ka. If all and the first vehicle are on a steep downhill slope, then the control unit is configured to generate a control signal Sreg which indicates a limitation of the other vehicle's capacity at its speed, whereby the second vehicle's luggage is also limited at its speed in accordance with armed .
    公开号:SE537992C2
    申请号:SE1451022
    申请日:2014-09-03
    公开日:2016-01-19
    发明作者:Henrik Pettersson；Assad Alam；Kuo-Yun Liang
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    537 992 with lower speed is in front of the vehicle, said over * speed control to distance control. The slope of the road can to some extent affect the grinding speed of the vehicle.
    EP2460706A1 and US2012 / 0123659A1 describe how traffic jams on slopes can be avoided by allowing the distance between vehicles to be reduced infOr slopes before all after hilltops transition to normal distance.
    With vehicle stays, the distance between vehicles is short, and required solutions are required for everyone to be able to drive in an industry-efficient way on slopes. It is an object of the invention to provide an improved set of all regulated vehicles in vehicle roofs on slopes.
    Summary of the invention According to a first aspect, the purpose is achieved at least in part by a control unit for regulating the speed of a vehicle in a distance-controlled vehicle roof when reversing. The vehicle roof comprises a first vehicle A and a second vehicle B where the first vehicle A is a directly forward vehicle to the second vehicle B. The control unit is located in the second vehicle B and comprises a speed unit which is configured to determine an acceleration value al for the first vehicle A which describes how much the first vehicle A accelerates. The control unit further comprises a reversing unit which is configured to determine whether the first vehicle A is traveling on a steep descent slope, and a calculation unit which is configured to compare the acceleration value a1 with an acceleration constant ka. If al> ka and the first vehicle are on a steep downhill slope, then the control unit is configured to generate a control signal Sreg which indicates a limitation of the other vehicle's shape all Oka's speed, whereby the second vehicle's shape all Oka's speed is limited accordingly .
    The control unit thus interrupts the current distance control on steep descents and limits the possibility of the other vehicle accelerating with the help of the engine. In this way, unnecessary acceleration is avoided, which gives rise to deceleration on the downhill slope. Any distance error between the vehicles that remains 3,537,992 after the end of the downhill slope can then be taken in when the downhill slope is over and the second vehicle B no longer risks driving to the first vehicle A. Since braking on the downhill slope due to previous unnecessary acceleration is avoided, so industry can be saved. The distance control can be based on keeping a constant distance between the vehicles, or be dependent on the speed of the vehicles. By direct forward is meant that there is no other vehicle between vehicle A and vehicle B.
    According to one embodiment, the control signal Sreg comprises a speed limit, a torque limit and / or an acceleration limit. The other vehicle B can thus be limited in different ways.
    According to one embodiment, the control signal Sreg comprises a constant value vk at the speed v2 of the other vehicle. According to one embodiment, the constant value is the current speed of the other vehicle v2. The speed v2 of the other vehicle is then frozen to its current speed. In this way, the other vehicle B can not be forced to drive at all speeds. According to another embodiment, the control signal Sreg comprises a function of the speed of another vehicle in the vehicle stay which limits the speed v2 of the second vehicle, for example the speed of the first vehicle (i.e. the speed of the vehicle in front). The function may instead depend on the speed of another vehicle in the vehicle stay. For example, there may be a conductor vehicle danger the first vehicle A belonging to the same vehicle roof as vehicles A and B. The function may then depend on the speed of the conductor vehicle. Alternatively, the function may depend on the speed of one vehicle in the vehicle stay located behind the other vehicle B. The function may also depend on the speeds of a plurality of vehicles in the vehicle stay in combination.
    According to one embodiment, the second vehicle is provided with a detector unit for detecting a relative speed between the second vehicle B and the first vehicle A, the speed unit being configured to determine the acceleration value al based on the relative speed vrel. In this way, the 4,537,992 second vehicle B can determine the acceleration of the first vehicle without being dependent on information from the first vehicle A.
    According to one embodiment, the hill unit is configured to determine the slope of the road on which the first vehicle A is traveling, and to determine whether the first vehicle A is traveling on a steep downhill slope based on the slope a.
    According to one embodiment, the second vehicle B is equipped with a map unit with topography data and a positioning unit and a distance detector unit for measuring the distance between the first and the second vehicle A, B, the hill unit being configured to determine the position pi for the first vehicle A, and the slope a based on the position pi and topography data.
    According to one embodiment, the first vehicle A is equipped with a first unit for wireless communication and the second vehicle B is provided with a second unit for wireless communication. In this way, the vehicles can wirelessly exchange information between each other.
    According to one embodiment, the hill unit is configured to determine if the first vehicle A is traveling on a steep downhill slope based on vehicle-specific data from the first vehicle A, the vehicle-specific data including some of a status flag, current gear ratio, current vehicle weight, engine current curve, engine maximum mechanical friction and / or the vehicle's choke resistance at current speed.
    According to a second aspect, the object is achieved at least in part by a method for regulating the speed of a vehicle in a distance-controlled vehicle roof when reversing. The vehicle roof comprises a first vehicle A and a second vehicle B and the first vehicle A is a directly forward vehicle to the second vehicle B. The method comprises: - determining an acceleration value al for the first vehicle A which describes how much the first vehicle A accelerates ; 537 992 - determine whether the first vehicle A is traveling on a steep downhill slope; - compare the acceleration value al with an acceleration constant ka, and if al> ka and the first vehicle are on a steep downhill slope, then the method includes aft - limit the ability of the other vehicle to increase its speed.
    According to one embodiment, the method of limiting the shape of the other vehicle comprises its speed by introducing a speed limitation, a torque limitation and / or an acceleration limitation. Acceleration limitation meant having to limit the engine's ability to accelerate.
    According to one embodiment, the method of limiting the speed v2 of the other vehicle to a constant value vk. According to one form of performance, the constant value vk is the current speed v2 of the other vehicle. According to another embodiment, the method of limiting the speed v2 of the second vehicle according to a function of the speed of another vehicle in the vehicle roof, for example the speed of the first vehicle (i.e. the speed of the vehicle in front).
    According to one embodiment, the second vehicle is provided with a detector unit for detecting a relative speed between the second vehicle B and the first vehicle A, the acceleration value being determined based on the relative speed.
    According to one embodiment, determining whether the first vehicle A travels on a steep downhill slope comprises determining the slope of the road on which the first vehicle A travels.
    According to one embodiment, the second vehicle B is equipped with a map unit with topography data and a positioning unit, and a distance detector unit for measuring the distance between the first and the second vehicle A, B, wherein determining the slope a comprises determining the position pi for the first vehicle A, and the slope value a based on the position pi and topography data. 6
    权利要求:
    Claims (22)
    [1]
    Control unit (2) for controlling the speed of a vehicle in a distance-controlled vehicle train during reversing, wherein the vehicle train comprises a first vehicle A and a second vehicle B and the first vehicle A is a vehicle directly in front of the second vehicle B, the control unit (2) is located in the second vehicle B, characterized in that the control unit (2) further comprises - a speed unit (3) configured to determine an acceleration value a1 of the first vehicle A which describes how much the first vehicle A accelerates; a hill unit (4) configured to determine if the first vehicle A is traveling on a steep downhill slope; a calculation unit (5) configured to compare the acceleration value a1 with an acceleration constant ka, and if a1> ka and the first vehicle are on a steep downhill slope, the control unit (2) is configured to generate a control signal sreg indicating a limitation of the ability of the other vehicle to increase its speed, the ability of the other vehicle to increase its speed being limited accordingly.
    [2]
    The control unit (2) according to claim 1, wherein the control signal sæg comprises a speed limit, a torque limit and / or an acceleration limit_
    [3]
    The control unit (2) according to claim 1 or 2, wherein the control signal sæg comprises a constant value vk at the speed V2 of the other vehicle.
    [4]
    The control unit (2) according to claim 3, wherein the constant value vk is the current speed V2 of the other vehicle. 18 10 15 20 25 30 537 992
    [5]
    The control unit (2) according to any one of the preceding claims, wherein the control signal sfeg comprises a function of another vehicle's speed in the vehicle train which limits the speed V2 of the other vehicle.
    [6]
    The control unit (2) according to any one of the preceding claims, wherein the second vehicle is provided with a detector unit (6) for detecting a relative speed vre. between the second vehicle B and the first vehicle A, the speed unit (3) being configured to determine the acceleration value a1 based on the relative speed vrei.
    [7]
    The control unit (2) according to any one of the preceding claims, wherein the hill unit (4) is configured to determine the slope o on the road on which the first vehicle A travels, and to determine whether the first vehicle A travels on a steep downhill based on the slope d.
    [8]
    The control unit (2) according to claim 7, wherein the second vehicle B is equipped with a map unit (7) with topography data and a positioning unit (8), and a distance detector unit (9) for measuring the distance between the first and the second vehicle A , B, wherein the hill unit (4) is configured to determine the position p1 of the first vehicle A, and the slope oi based on the position p1 and the topography data.
    [9]
    The control unit (2) according to any one of the preceding claims, wherein the first vehicle A is equipped with a first unit (10) for wireless communication and the second vehicle B is provided with a second unit (11) wireless communication.
    [10]
    The control unit (2) according to any one of the preceding claims, wherein the hill unit (4) is configured to determine whether the first vehicle A travels on a steep descent based on vehicle-specific data from the first vehicle A, the vehicle-specific data comprising any of a status flag , current gear ratio, current vehicle weight, engine maximum torque curve, current 19 10 15 20 25 30 537 992 engine power, mechanical friction and / or the vehicle's driving resistance at current speed.
    [11]
    A method of controlling the speed of a vehicle in a remotely controlled vehicle train when reversing, wherein the vehicle train comprises a first vehicle A and a second vehicle B and the first vehicle A is a vehicle directly in front of the second vehicle B, the method comprising: - determining an acceleration value a1 for the first vehicle A which describes how much the first vehicle A accelerates; - determining whether the first vehicle A is traveling on a steep downhill slope; -compare the acceleration value a1 with an acceleration constant ka, and if a1> ka and the first vehicle are on a steep downhill slope, the method includes - limiting the ability of the second vehicle to increase its speed.
    [12]
    The method of claim 11, comprising limiting the ability of the other vehicle to increase its speed by introducing a speed limit, a torque limit and / or an acceleration limit.
    [13]
    The method of claim 11 or 12, comprising limiting the speed V2 of the other vehicle to a constant value vk.
    [14]
    The method of claim 13, wherein the constant value vk is the current speed V2 of the other vehicle.
    [15]
    The method according to any one of claims 11 to 14, comprising limiting the speed V2 of the other vehicle according to a function of the speed of another vehicle in the vehicle train.
    [16]
    The method according to any one of claims 11 to 15, wherein the second vehicle is provided with a detector unit (6) for detecting a relative speed væ. between the second vehicle B and the first vehicle A, the acceleration value a1 being determined based on the relative speed vre.
    [17]
    The method of any of claims 11 to 16, wherein determining whether the first vehicle A is traveling on a steep downhill slope comprises determining the slope a of the road on which the first vehicle A is traveling.
    [18]
    The method according to claim 17, wherein the second vehicle B is equipped with a map unit (7) with topography data and a positioning unit (8), and a distance detector unit (9) for measuring the distance between the first and the second vehicle A, B, wherein determining the slope d comprises determining the position p1 of the first vehicle A, and the slope value d based on the position p1 and the topography data.
    [19]
    The method according to any one of claims 11 to 18, wherein the first vehicle A is equipped with a first unit (10) for wireless communication and the second vehicle is provided with a second unit (11) for wireless communication.
    [20]
    The method according to any one of claims 11 to 19, wherein determining whether the first vehicle A is traveling on a steep downhill based on vehicle-specific data from the first vehicle A, wherein the vehicle-specific data comprises something of a status flag, current gear ratio, current vehicle weight, engine maximum torque curve, current engine power, mechanical friction and / or vehicle resistance at current speed.
    [21]
    Computer program P, wherein said computer program P comprises program code for causing a control unit (2), or other computer connected to the control unit (2), to perform the steps according to any one of claims 11-20.
    [22]
    A computer program product comprising a program code stored on a computer readable non-volatile medium for performing the method steps of any of 21,537,992 claims 11-20, when said program code is executed on the controller (2) or other computer connected to the controller (2). . 22
    类似技术:
    公开号 | 公开日 | 专利标题
    SE537992C2|2016-01-19|Control unit and method for controlling the speed of a vehicle in a distance controlled vehicle train when reversing
    US9528842B2|2016-12-27|Method and device for ascertaining a source of danger on a travel route
    CN107406077B|2021-06-01|Method of controlling gaps between vehicles in a fleet of vehicles
    EP3056405B1|2018-01-17|Travel control device and travel control method
    SE537603C2|2015-07-21|Method and system for handling obstacles for vehicle trains
    CN107031634B|2020-12-08|Driving assistance apparatus, vehicle, and method of controlling longitudinal speed of vehicle
    CN102837703B|2016-12-21|Estimate the method and system of vehicle speed curve and include the motor vehicles of this system
    CN107521503B|2021-06-29|Method and system for adjusting a safety margin threshold for a driver support function
    ES2550043T3|2015-11-04|Motor vehicle comprising a driver assistance system with a control facility for automatic longitudinal guidance
    CN106515734B|2021-08-31|Method for automatically adapting acceleration in a motor vehicle
    SE1351129A1|2015-03-31|Systems and method in connection with vehicle trains
    SE1351130A1|2015-03-31|System and method for regulating a vehicle train with two different driving strategies
    US20140052357A1|2014-02-20|Assistance system for a motor vehicle and method for controlling a motor vehicle
    JP2014520703A|2014-08-25|Determination of vehicle running resistance
    CN103738351A|2014-04-23|Train control method for dealing with severe weather
    US8935072B2|2015-01-13|Method for determining the speed of a vehicle and vehicle
    JP6319192B2|2018-05-09|Vehicle speed limiter
    JP6065027B2|2017-01-25|Collision avoidance system
    CN106515710A|2017-03-22|Vehicle automatic driving control apparatus
    CN108602514A|2018-09-28|Operator's skill scores based on the comparison operated with automated vehicle
    CN108973985B|2021-08-10|Driver command interpreter based on combination slip
    SE1250311A1|2013-09-30|Procedure and system for assessing driver behavior when driving vehicles
    SE1450602A1|2015-11-22|Procedure and system for adapting a vehicle's performance on a roadway in conjunction with cornering
    KR102239010B1|2021-04-13|Smart cruise control apparatus of vehicle and the method
    JP2021012527A|2021-02-04|Limit vehicle speed derivation device
    同族专利:
    公开号 | 公开日
    DE102015010559A1|2016-03-03|
    SE1451022A1|2016-01-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP2005186813A|2003-12-25|2005-07-14|Fuji Heavy Ind Ltd|Drive assisting device for vehicle|
    CN102470868B|2009-07-28|2014-12-24|丰田自动车株式会社|Vehicle control device, vehicle control method, and vehicle control system|
    WO2011013216A1|2009-07-29|2011-02-03|トヨタ自動車株式会社|Vehicle controller, control method for vehicle and control system for vehicle|
    US9180883B2|2011-12-22|2015-11-10|Scania Cv Ab|Method and module for determining of at least one reference value for a vehicle control system|DE102016217645A1|2016-09-15|2018-03-15|Volkswagen Aktiengesellschaft|A method for providing information about a probable driving intention of a vehicle|
    CN112088343A|2018-05-11|2020-12-15|沃尔沃卡车集团|Method for establishing a vehicle path|
    DE102018218368B3|2018-10-26|2019-12-19|Robert Bosch Gmbh|Method for operating a rail vehicle|
    CN112519776A|2019-08-30|2021-03-19|北京图森智途科技有限公司|Control method of automatic driving fleet, vehicle-mounted device and automatic driving vehicle|
    EP3819187A1|2019-11-05|2021-05-12|Robert Bosch GmbH|Method for operating a rail vehicle|
    DE102019132943A1|2019-12-04|2021-06-10|Wabco Europe Bvba|Method for coordinating vehicles in a vehicle group during emergency braking and a control unit|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1451022A|SE1451022A1|2014-09-03|2014-09-03|Control unit and method for controlling the speed of a vehicle in a distance controlled vehicle train when reversing|SE1451022A| SE1451022A1|2014-09-03|2014-09-03|Control unit and method for controlling the speed of a vehicle in a distance controlled vehicle train when reversing|
    DE102015010559.0A| DE102015010559A1|2014-09-03|2015-08-12|Control unit and method for controlling the speed of a vehicle in a distance-controlled vehicle column when going uphill|
    [返回顶部]