Method and arrangement for continous curve speed adjustment for a road vehicle

Road vehicle (1) curve speed adjustment arrangement, characterized in that it comprises:

• means (14) for obtaining current ego velocity (vE) data of the road vehicle (1);
• means (2, 3, 4, 5, 6) for obtaining distance (d) and curvature value (r) data of an upcoming road segment represented by a set of control points (Pn, Pn+1, etc.) to be negotiated by the road vehicle (1);
• means (2, 3, 5, 6) for obtaining road property data of a road comprising the road segment to be negotiated;
• means (3, 7, 8, 9) for obtaining environmental property data of the road vehicle (1) environ;
• means (10) for obtaining driver property data of the road vehicle (1) driver;
• means (11, 13) for continuously streaming the obtained data to a data processing arrangement (12) arranged to process the data;
• the data processing arrangement (12) being arranged to:
• evaluate the obtained data to perform a translation to target velocities (vroad) for the respective control points (P);
• and to perform, for each respective control point (Pn, Pn+1, etc.), a translation from target velocity (Vroad, n, Vroad, n+1, etc.) for that control point (Pn, Pn+1, etc.) and distance (dn, dn+1, etc.) to that control point (Pn, Pn+1, etc.) and obtained current ego velocity (vE) of the road vehicle (1), to a target acceleration (an, an+1, etc.) to reach that control point (Pn, Pn+1, etc.) at the target velocity (vroad, n, Proad, n+1, etc.) for that control point (Pn, Pn+1, etc.);
• the arrangement further comprising:
• means (11, 13) for continuously streaming the resulting target accelerations (an, an+1, etc.) for the respective control points (Pn, Pn+1, etc.) to a control unit (14) of the road vehicle (1);
• the control unit (14) being arranged to adjust the road vehicle (1) acceleration to reach each respective control point (Pn, Pn+1, etc.) at the target velocity (Vroad, n, Vroad, n+1, etc.) for that control point (Pn, Pn+1, etc.).