Method and module for determining of at least one reference value

A module configured to determine at least one reference value for a speed regulator that controls a speed of a vehicle by a control system of a vehicle such that said reference value may differ from a value corresponding to the speed indicated by a driver of the vehicle, the module comprising:

• a calculation unit configured:
• to make a first prediction and a second prediction of a vehicle speed along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;
• to compare said first predicted speed and said second predicted speed, respectively, with a lower limit value and/or an upper limit value, wherein the lower and upper limit values delineate a range within which the speed is maintained, with an offset added to at least one of said lower and upper limit values when the vehicle is in a route segment having a steep hill route characteristic;
• and
• to determine the at least one reference value based on said respective comparisons and/or said first predicted speed and said second predicted speed;
• and
• said module configured to output the at least one reference speed determined to the control system of the vehicle.

A non-transitory computer-readable medium incorporating instructions for enabling a vehicle to control a speed of the vehicle when the instructions are run on an automated processor, the instructions comprising:

• prediction instructions configured to make a first prediction and a second prediction of the speed of the vehicle along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;
• comparison instructions configured to compare said first predicted speed and said second predicted speed, respectively, with a lower limit value and/or an upper limit value, wherein the lower and upper limit values delineate a speed range within which the speed is maintained, with an offset added to said lower and/or upper limit values when the vehicle is in a route segment having a steep hill route characteristic;
• reference value determination instructions configured to determine the at least one reference value based on at least one of said comparisons and said first predicted speed and said second predicted speed;
• and
• outputting instructions configured to output the at least one reference value to a vehicle control system for controlling the speed of the vehicle.