Method and module for controlling a vehicle's speed based on rules and/or costs

A method for controlling a speed of a vehicle based on at least one reference value, the method comprising:

• acquiring a set speed for the vehicle;
• determining a horizon for an itinerary of the vehicle by reference to map data and location data, which horizon comprises one or more route segments, each route segment having at least one route characteristic;
• performing, by a module comprising an automated processor, a number of simulation cycles sj, each simulation cycle comprising a number of simulation steps conducted at a predetermined rate, the simulation steps comprising:
• making a first prediction of the speed of the vehicle according to a conventional cruise control when the set speed is imparted as the reference speed wherein the first prediction depends on the at least one route characteristic of said route segment;
• comparing, as a first comparison, the first predicted speed with at least one of first lower and upper limit values and, wherein the first lower and upper limit values define an engine torque for use in an immediately following simulation cycle sj+1;
• making a second prediction of the speed of the vehicle, wherein an engine torque is a value which depends on a result of said first comparison in the immediately preceding simulation cycle sj−1;
• comparing, as a second comparison, the second predicted speed of the vehicle with at least one of second lower and upper limit values, wherein the second lower and upper limit values delineate a speed range within which the speed of the vehicle is maintained;
• determining the at least one reference value based on said second comparison and/or the second predicted vehicle speed in this simulation cycle sj;
• and
• outputting to a control system of the vehicle said at least one reference value, and regulating a speed of the vehicle accordingly.