US 12,227,189 B2
Method for controlling a vehicle
Jonas Hellgren, Gothenburg (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Appl. No. 17/757,551
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
PCT Filed Dec. 18, 2019, PCT No. PCT/EP2019/086038
§ 371(c)(1), (2) Date Jun. 16, 2022,
PCT Pub. No. WO2021/121583, PCT Pub. Date Jun. 24, 2021.
Prior Publication US 2023/0271614 A1, Aug. 31, 2023
Int. Cl. B60W 30/188 (2012.01); B60W 50/00 (2006.01); G01C 21/34 (2006.01); B60W 20/12 (2016.01)
CPC B60W 30/188 (2013.01) [G01C 21/3453 (2013.01); B60W 2050/0031 (2013.01); B60W 2520/00 (2013.01); B60W 2556/10 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle travelling along a route, the method comprising,
obtaining a first balance parameter value, indicative of a balance between a cost for operating the vehicle along at least a part of the route, and a time of arrival at a position along the route, wherein the first balance parameter value is determined as a value that provides a first velocity profile as resulting in the vehicle reaching an end of the route at a latest allowed point in time,
determining a velocity profile, which is the first velocity profile,
establishing, in dependence on the first balance parameter value, a plurality of desired position and time correlations for the travel of the vehicle along at least a part of the route,
when the vehicle travels along the route, determining a progress deviation comprising a deviation, for a point in time, of an actual position of the vehicle from a desired position according to the desired position and time correlations, or a deviation, for a position of the vehicle, of an actual point in time from a desired point in time according to the desired position and time correlations,
when the vehicle travels along the route, obtaining a second balance parameter value, different from the first balance parameter value, the second balance parameter value being dependent on the progress deviation,
controlling the vehicle in dependence on the second balance parameter value;
repeating a plurality of times, as the vehicle travels along the route, determining the progress deviation, obtaining the second balance parameter value dependent on the progress deviation, and controlling the vehicle in dependence on the second balance parameter value;
repeating a plurality of times a determination, in dependence on the second balance parameter value, of the velocity profile for the vehicle for at least a portion of a remainder of the route, wherein the second balance parameter value, obtained in a repeated step of obtaining the second balance parameter value, replaces, for the velocity profile determination, the second balance parameter value obtained from obtaining the second balance parameter value,
wherein the determination of the velocity profile is repeated more often than the obtaining of the second balance parameter value.