Method and module for determining of velocity reference values for a vehicle control system

A module for determination of speed set-values vref for a vehicle's control system, the module comprising:

• a horizon unit configured and operable to determine a horizon using position data and map data of an itinerary including segments with at least one characteristic for each segment;
• a processor unit that includes a data processor, the processor unit configured and operable:
• to calculate threshold values for said at least one characteristic according to one or more vehicle-specific values,
• to compare said at least one characteristic of each segment with the calculated threshold values, and to assign each segment to a respective category according to the results of the comparisons, wherein the threshold values serve as boundaries for assigning the segments to the respective categories;
• and
• to calculate speed set-point values vref for the vehicle's control systems across the horizon according to rules pertaining to the categories to which segments within the horizon are assigned;
• a hindrance unit configured and operable to perform the following steps when any characteristic of segments within the horizon indicates a hindrance:
• calculating a retardation of the vehicle on a supposition that brakes of the vehicle are not used according to said rules pertaining to the segment categories;
• and
• determining a start position within the horizon for commencement of the retardation of the vehicle according to the vehicle's calculated retardation in order to achieve a lowering of the speed set-point speed value vref to a maximum speed required by the hindrance at the location of the hindrance;
• and
• the processor unit is further configured and operable to adapt the speed set-point value vref within the horizon according to said start position and the retardation of the vehicle;
• and
• the control system regulates the vehicle's speed according to the speed set-point values vref.

A computer-readable medium incorporating a non-transitory program of instructions configured to enable a computer system to:

• A) determine a horizon using position data and map data of an itinerary including route segments with at least one characteristic for each segment;
• B) calculate threshold values for said at least one characteristic according to one or more vehicle-specific values,
• C) compare said at least one characteristic of each segment with the calculated threshold values and assign each segment within the horizon to a respective category according to the results of the comparisons, wherein the threshold values serve as boundaries for assigning the segments to the respective categories;
• D) calculate speed set-point values vref for a vehicle's control system across the horizon according to rules pertaining to the categories to which segments within the horizon are assigned;
• and
• when any characteristic in segments within the horizon indicates a hindrance, performing the following steps:
• E) calculate a retardation of the vehicle on a supposition that the brakes are not used according to said rules pertaining to the segment categories;
• F) determine a start position within the horizon for commencement of the retardation of the vehicle according to the vehicle's calculated retardation in order to achieve a lowering of the speed set-point value vref to a maximum speed required by the hindrance at the location of the hindrance;
• G) adapt the speed set-point values vref within the horizon according to said start position and the retardation of the vehicle;
• and
• H) regulate the vehicle's speed according to the speed set-point values vref when the computer program of instructions is run on said computer system.