# Patent

## Title
Method and device for controlling the reference speed of a down-hill speed controller

## Abstract

A system for governing a reference speed vref_dhsc for a downhill speed control system in a vehicle in connection with a downhill gradient. A simulation unit simulates at least one future speed profile vsim for an actual vehicle speed over a section of road in front of the vehicle, based on topographic information. An establishing unit establishes whether the reference speed vref_dhsc is to be allocated an increased reference speed vref_dhsc_schwung. This establishing is based on a comparison of the simulated future speed profile vsim with a permitted magnitude of the increased reference speed vref_dhsc_schwung and/or with an infringement speed vsl. An allocation unit allocates the value of the increased reference speed vref_dhsc_schwung to the reference speed vref_dhsc if this has been established.

## Background
The present application is a 35 U.S.C. §§371 National Phase conversion of PCT/SE2013/050607, filed May 28, 2013, which claims priority of Swedish Patent Application No. 1250644-0, filed Jun. 19, 2012, the contents of which are incorporated by reference herein. The PCT International Application was published in the English language.
TECHNICAL FIELD
The present invention relates to a method for governing a reference speed vref_dhsc for a downhill speed control system for a vehicle and a system for governing a reference speed vref_dhsc for a downhill speed control device.
The present invention also relates to a computer program and a computer program product that execute the method in accordance with the invention.
BACKGROUND
Motor vehicles, and especially heavy motor vehicles such as trucks and buses, are affected by gravity on downhill gradients in such a way that their speed increases. For this reason, many heavy vehicles are equipped with a downhill speed control system, which is arranged to restrict the speed of the vehicle so that it does not exceed a predetermined value.
A set speed vset_dhsc for the downhill speed control system is set by the driver of the vehicle for example. Then the downhill speed control system ensures that this set speed vset_dhsc is not exceeded by the control of one or more brake devices in the vehicle. This is carried out against a reference speed vref_dhsc for the downhill speed control system, in which the reference speed vref_dhsc depends on the set speed vset_dhsc. The reference speed vref_dhsc often corresponds to the set speed vset_dhsc, except for an example when ramping up the setpoint of the downhill speed control system speed to increase comfort.
Braking devices are designed to create a brake torque which acts to reduce the speed of the vehicle, for example by reducing the speed of rotation of the wheelset providing the vehicle with propulsion. The braking devices can comprise one or more auxiliary brakes, such as an engine brake, exhaust brake, electromagnetic retarder and hydraulic retarder. Auxiliary brakes are useful for moderate deceleration and for downhill cruise control. This means that the ordinary wheel brakes are not worn and overheated unnecessarily.
For example, the set speed vset_dhsc can be set by the driver through some type of input, for example by pressing a button, turning a knob, activating a lever, input to a screen, activating a brake pedal, or through some other type of input familiar to experts in the field.
There are several different types of downhill speed control systems. One such type is a manual downhill speed control system, which can be utilised when no cruise control function is activated. Here the driver determines the set speed vset_dhsc through some type of button input, for example using a steering wheel button, which is then used to regulate one or more auxiliary brakes, for example an exhaust brake and retarder.
Another type of downhill speed control system is an automatic downhill speed control system. Here the set speed vset_dhsc is set using a brake pedal or the like, in such a way that the set speed vset_dhsc is set to a value corresponding to the actual speed vact at which the vehicle is travelling when the brake pedal is released after having been applied.
Another type of downhill speed control system is an offset downhill speed control system. Here the set speed vset_dhsc for the downhill speed control system is set as an offset to the set speed vset_cc for a cruise control system in the vehicle. If the offset downhill speed control system is deployed when a set speed vset_cc for a cruise control has been selected by the driver, the set speed vset_dhsc for the downhill speed control system will be related to the set speed vset_cc for the cruise control. In other words, the set speed vset_dhsc for the downhill speed control system is the same as the set speed for the cruise control system vset_cc plus an offset, vset_dhsc=vset_cc+ offset. For example this offset value can be between 3 km/h and 15 km/h. In other words, the function of the downhill speed control system is to prevent the speed of the vehicle exceeding a speed which is for example 3 km/h higher than the set speed vset_cc for the cruise control system if the offset has been selected as 3 km/h.
BRIEF DESCRIPTION OF THE INVENTION
Generally speaking, the vehicle loses kinetic energy Wk when it is braked from a higher speed to a lower speed. If the higher speed has been achieved through the effect of gravitational force, for example on or after a downhill gradient, it is positive from the point of view of fuel economy to be able to utilise this kinetic energy Wk instead of losing it through braking.
However, because of other vehicles on the road, and/or speed limits the vehicle may not be permitted to freely increase its speed on downhill gradients, for example. For this reason, the function of the downhill speed control system is important to the driving of the vehicle.
When observing actual traffic, the following driver behaviours have been relatively common. Here the behaviour has been exemplified for a speed limit of 90 km/h, however, an expert in the field will appreciate that corresponding problems also occur at other speed limits.
Many drivers set the set speed vset_cc for the cruise control system to its maximum value, which can be 89 km/h for example (or 90 km/h for certain manufacturers) if the speed limit for the section of road is 90 km/h. The set speed vset_dhsc for the downhill speed control system is then set somewhat above the set speed vset_cc for the cruise control system. For example, it is common for the set speed vset_dhsc for the downhill speed control system to be set to the same speed as the set speed for the cruise control system vset_cc plus an offset of 3 km/h. In other words, the set speed vset_dhsc for the downhill speed control system is often set to 92 km/h, for example.
Due to gravity, when the vehicle reaches a downhill gradient, it will accelerate above the set speed vset_cc for the cruise control system and the vehicle will be braked at the set speed vset_dhsc for the downhill speed control system if a reference speed vref_dhsc for the downhill speed control system is the same as the set speed vset_dhsc for the downhill speed control system, vref_dhsc=vset_dhsc in other words at 92 km/h. Here the set speed vset_dhsc is the value that the driver inputs into the downhill speed control system, while the reference speed vref_dhsc is the setpoint with which the downhill speed control system controls the braking devices in the vehicle such as service brakes and/or auxiliary brakes. In long downhill gradients the vehicle will have an actual speed vact of approximately 92 km/h for a relatively large portion of the downhill gradient; this also means a temporarily higher average speed for the vehicle. This is shown schematically in FIG. 1a, in which the set speed vset_dhsc 101 for a downhill speed control system is 92 km/h, the set speed vset_cc for the cruise control system is 89 km/h, and where the actual speed vact 103 rises to approximately 92 km/h and remains there for a large part of a downhill gradient in a schematic height section 104.
Heavy vehicles are often equipped with tachographs, which can be both completely electronic and partially mechanical. The tachograph continuously logs the speed of the vehicle among other things. An infringement speed vsl is also defined, which is known by the tachograph. This infringement speed vsl can be related to a maximum permitted speed for the vehicle and/or to a prevailing speed limit for an applicable section of road. If the vehicle may not be driven faster than 90 km/h, and/or the speed limit for the applicable section of road is 90 km/h, this infringement speed vsl may be set at 90.5 km/h for example.
Tachographs are often arranged to log an infringement for the driver if the infringement speed vsl has been exceeded for a predetermined infringement period Tsl. For example, the tachograph may log an infringement if the actual speed of the vehicle vact exceeds the infringement speed vsl of 90.5 km/h for a predetermined infringement period Tsl equivalent to 60 seconds. In other words, if the downhill gradient means that the vehicle accelerates up to and is braked by the downhill speed control system at 92 km/h and then remains at that speed for over 60 seconds, the driver will have an infringement logged in the tachograph.
In several countries around the world the police can fine the driver based on such infringements logged in the tachograph. In other words, the police in these countries can demand to see the information on the tachograph and can also impose a fine based on this information.
In many vehicles, the driver will be warned before an infringement is logged for the driver. For example, the driver may be warned if there is a risk of an infringement being logged when the actual speed of the vehicle vact has exceeded the infringement speed vsl of 90.5 km/h for 45 seconds, for example. Because the driver would normally not want an infringement to be logged and thus risk a speeding fine, the natural response of the driver to this warning is to brake the vehicle. This behaviour is shown schematically in FIG. 1b, where the actual speed vact 103 drops sharply 105 at the bottom of the hill because the driver brakes the vehicle. In other words, this driver behaviour results in the vehicle leaving the downhill gradient at a low actual speed vact 103, which is not efficient from the point of view of fuel economy.
A solution to this problem could be to lower the set speed vset_dhsc for the downhill speed control system, by reducing the offset, for example. However, this would lead to an unnecessary amount of the actual speed of the vehicle vact being braked away over the downhill gradient, which is not optimum from the point of view of fuel economy and not optimum from the point of view of driving time.
SUMMARY OF THE INVENTION
One object of the present invention is, in a controlled manner, to take advantage of the kinetic energy Wk a vehicle acquires on a downhill gradient.
This objective is achieved by utilising the aforementioned method for governing a reference speed vref_dhsc for a downhill speed control system, according to the disclosure herein. The objective is also achieved by utilising the aforementioned system for governing a reference speed vref_dhsc for a downhill speed control system, according to the disclosure herein.
The objective is also achieved by the aforementioned computer program and computer program product that implement the method according to the invention.
Utilising the present invention obtains an increased reference speed vref_dhsc_schwung for said downhill speed control system in the final part of a downhill gradient, which results in an increased actual vehicle speed at the end of the downhill gradient. This increase in actual vehicle speed means that the vehicle leaves the downhill gradient with an increased kinetic energy Wk, which can be utilised in the propulsion of the vehicle following the downhill gradient, for example, on an uphill gradient that starts after the downhill gradient, or so that the vehicle can be driven for a longer distance before fuel needs to be injected in order for the vehicle to maintain the set speed vset_cc for the cruise control system.
According to one embodiment of the invention, establishing whether the increased reference speed vref_dhsc_schwung shall be applied is based on one or more rules regarding speed limits and/or infringements being logged on the digital tachograph card. Being able to take advantage of the free kinetic energy Wk obtained due to the acceleration of the vehicle on a downhill gradient, without risking infringements logged on the digital tachograph card and without risking warnings about the risk of an infringement being logged, means that the driver can easily maximise the increased actual vehicle speed at the end of the gradient, which maximises the utilisation of the available kinetic energy Wk.
According to one embodiment of the invention, governing the reference speed vref_dhsc for the downhill speed control system is coordinated with the control carried out by a reference speed vref_cc for the cruise control system propelling the vehicle in order to maximise the magnitude of the increased reference speed vref_dhsc_schwung. For example, governing the reference speed vref_dhsc for the downhill speed control system, when coordinated with a reference speed governing cruise control system such as Scania Active Prediction (Look Ahead), can utilise the knowledge that the reference speed vref_cc for the cruise control system can be reduced prior to a downhill gradient. This reduction means that the reference speed vref_dhsc for the downhill speed control system at the start of the downhill gradient can adopt the value of the set speed vset_cc for the cruise control system in order to then adopt an increased reference speed vref_dhsc for the downhill speed control system. Because simulation of the future speed profile vsim for the future vehicle speed is based on the current position/time and is calculated on the basis of map data in front of the vehicle, governing the reference speed vref_dhsc for the downhill speed control system is very exact.
Today there is an express customer requirement that the vehicle's cruise control must be able to ensure that the same vehicle speed that can be maintained on the flat can also be maintained on long downhill gradients. As reference speed governing cruise control systems, such as Scania Active Prediction, which reduce the reference speed vref_cc prior to downhill gradients, come onto the market, it is highly probable that these will create a greater time window to the vehicle in front on downhill gradients due to speed reductions prior to the downhill gradient. It is also probable that a vehicle with Scania Active Prediction, or the like, can utilise a temporarily higher final speed following the downhill gradient, to reduce the time window to the vehicle in front in a more fuel efficient manner. However, this assumes that the vehicle in front maintains a constant speed of approximately 90 km/h.



BRIEF DESCRIPTION OF DRAWINGS
The invention will be illuminated in more detail below on the basis of the enclosed figures, in which the same references are used for the same components, and where:
FIGS. 1a and 1b show examples of speed profiles using prior art,
FIGS. 2a and 2b show two flow diagrams for different embodiments of the method according to the invention,
FIG. 3 schematically shows the principle of one embodiment of the invention in one driving situation,
FIG. 4 schematically shows the principle of one embodiment of the invention in one driving situation,
FIG. 5 schematically shows the principle of one embodiment of the invention in one driving situation,
FIG. 6 schematically shows the principle of one embodiment of the invention in one driving situation,
FIG. 7 schematically shows the principle of one embodiment of the invention in one driving situation, and
FIG. 8 schematically shows a control unit according to the invention.



DESCRIPTION OF PREFERRED EMBODIMENTS
The present invention relates to governing a reference speed vref_dhsc for a downhill speed control system in a vehicle in connection with a downhill gradient, which results in an increased reference speed vref_dhsc_schwung in the final part of the gradient. FIG. 2a shows a schematic flow diagram for the invention.
In a first step 210 for the method of the present invention, at least one future speed profile vsim of the vehicle is simulated for a section of road in front of the vehicle. Here the section of road can correspond to a horizon, which is equivalent to a section of road of for example 1-2 km in front of the vehicle in its direction of travel. The simulation is carried out on the basis of topographic information, which can consist of topographic mapping information combined with positioning information for example.
According to one embodiment of the invention, the simulation can also be based on ignoring the effect of the downhill speed control system, that is to say the simulation is carried out without taking the downhill speed control system into account. In other words, the simulated speed profile vsim will not have an upper limit that the downhill speed control system would have applied to the simulated speed profile vsim. Thus, for this embodiment, the simulated speed profile vsim will not be braked to the reference speed vref_dhsc on long downhill gradients.
A second step 220 of the method establishes whether the simulated speed profile vsim exceeds the increased reference speed vref_dhsc_schwung without the effect of the downhill speed control system, or if the infringement time Tt during which the future speed vsim exceeds an infringement speed vsl is too long, that is to say if the infringement time Tt when vsim exceeds vsl is greater than an infringement period Tsl. If the simulated speed profile vsim is equal to or greater than the increased reference speed vref_dhsc_schwung, the process reverts to the first step 210. If the simulated speed profile vsim is less than the increased reference speed vref_dhsc_schwung, the process continues to the third step 230. This comparison of the simulated speed profile vsim and the increased reference speed here and in this document refers to the simulated speed profile vsim remaining less than the increased reference speed vref_dhsc_schwung throughout the entire section of road. This can also be seen as meaning that a maximum value for the simulated speed profile vsim shall be less than the increased reference speed vref_dhsc_schwung.
If the infringement time Tt is greater than or equal to the infringement period Tsl the process reverts to the first step 210. If the infringement time Tt is less than the infringement period Tsl, the process continues to the third step 230. According to one embodiment the establishment utilises a combination of these comparisons in order to determine whether the process proceeds to the third step 230. This method means evaluating whether the excess speed vschwung at the current point in time “now” is permitted or not. If it is not permitted, the reference speed vref_dhsc is not changed, but when the rules are fulfilled and the excess speed vschwung is permitted, the reference speed vref_dhsc is set to an increased value vref_dhsc_schwung.
The excess speed vschwung can correspond to a value of how much the increased reference speed vref_dhsc_schwung exceeds a level that, in the final part of the downhill gradient, the reference speed vref_dhsc would have had, had the increased reference speed vref_dhsc_schwung not been applied by the system, that is, if the system had been implemented without utilising the increased reference speed vref_dhsc_schwung.
According to one embodiment of the invention, the excess speed vschwung and/or the increased reference speed vref_dhsc_schwung are predetermined by the system, and according to another embodiment the excess speed vschwung and/or the increased reference speed vref_dhsc_schwung are selected by the driver.
In a third step 230 of the method of the invention, the reference speed vref_dhsc is allocated the increased value vref_dhsc_schwung. This allocation takes place “now”, which essentially means at the point in time when it has been ascertained in the second step that it is appropriate to use the increased reference speed vref_dhsc_schwung. The concept “now” corresponds to a period of time that comprises the time it takes to carry out the simulation, adoption and increase.
In other words, carrying out the steps of the method of the invention gives an increased reference speed vref_dhsc_schwung on the final part of the downhill gradient, which can have a level at which an excess speed vschwung exceeds an initial level vref_dhsc_initial for the reference speed during the initial part of the downhill gradient. Because of this, the vehicle will exit the downhill gradient with an increased kinetic energy Wk compared with previously known solutions. Vehicles utilising previously known solutions often exit the gradient after the vehicle has been braked towards the end of the gradient as illustrated in FIG. 1b. 
The increased kinetic energy Wk that according to the invention can be obtained by the vehicle at the end of the gradient, can, through intelligent cruise control by a cruise control system or driver, be utilised in the section of road following the downhill gradient in order to reduce the fuel consumption of the vehicle. In addition, driving the vehicle like this makes it much easier for the driver and surrounding traffic to intuitively understand and assimilate, which increases the degree to which the systems are utilised, and at the same time reduces the amount of braking-related irritation in traffic in general.
The topographic information that according to the invention is utilised to establish one or more simulated speed profiles vsim can, for example, be obtained using positioning information, such as GPS information (Global Positioning System information) or similar positioning systems, mapping information and/or topographic mapping information. Positioning information can indicate where the vehicle is and mapping information and/or topographic mapping information can then be utilised to establish whether the vehicle is heading towards a downhill gradient for example.
FIG. 3 shows a non-limiting example of a driving situation corresponding to the method described in FIG. 2a. The driving situation starts at a start time T0 at a start position P0 where topography, that is to say a contour, for a section of road on which the vehicle is located, is shown at the top of the figure. Here the section of road comprises a downhill gradient. Below the contour a level for the set speed vset_cc for the cruise control system is shown (solid line at a constant level for the example) and a level for the set speed vset_dhsc for the downhill speed control system (solid line at a constant level for the example). In addition, it shows how the reference speed vref_dhsc for the downhill speed control system (dashed line at a varying level for the example) can vary in relation to the set speed vset_dhsc for the downhill speed control system. The actual speed vact of the vehicle is also shown in the Figure, indicating that because of the weight of the vehicle, the actual vehicle speed vact (solid thick line) starts to increase from a level corresponding to the set speed vset_cc for the cruise control system when the vehicle starts rolling down the downhill gradient from an initial position P1 at an initial point in time T1. The corresponding solid, dashed and thick lines are also used in FIGS. 4-7 in order to illustrate the set speed vset_cc for the cruise control system, the set speed vset_dhsc for the downhill speed control system, the reference speed vref_dhsc for the downhill speed control system, and the actual vehicle speed vact.
In order to describe the behaviour of the vehicle on the downhill gradient in FIG. 3, the downhill gradient has been divided up into four periods of time T01, T12, T23, T34. These time periods are also contained in and utilised in the descriptive driving situations in the other figures, which are described below. As experts will appreciate, the points of time and time periods in these figures correspond to the corresponding positions and distances on the section of road on which the vehicle is travelling. This document alternately uses points of time and positions along with periods of time and distances to explain the invention. It should therefore be appreciated that points of time and periods of time, as well as positions and distances, respectively constitute different units used to describe one and the same sequence of events according to the invention.
The start time period T01, corresponding to the start distance P01, extends from a start time T0, corresponding to a start position P0, to an initial point in time T1, corresponding to an initial position P1. In other words, the start time period T01 constitutes a start distance P01 prior to the downhill gradient.
The initial time period T12, corresponding to the initial section P12, extends from an initial point in time T1, corresponding to an initial position P1, to a second point in time T2, corresponding to a second position P2. In other words, the initial time period T12 consists of the initial part P12 of the downhill gradient.
The second time period T23, corresponding to the second section P23, extends from a second point in time T2, corresponding to a second position P2, to a third point in time T3, corresponding to a third position P3 at the end of the downhill gradient. In other words, the second time period T23 here consists of the final section P23 of the downhill gradient.
The third time period T34, corresponding to the third section P34, extends from the third point in time T3, corresponding to the third position P3, to a fourth point in time T4, corresponding to a fourth position P4 which is located on a flat section of road after the end of the downhill gradient. In other words, here the third time period T34 corresponds to a section of road P34 following the end of the downhill gradient.
In FIG. 3 the set speed vset_dhsc for the downhill speed control system is set to a relatively low value, which is relatively close to the set speed vset_cc for the cruise control system. This can, for example, be because the driver here entered a relatively small difference between the set speed vset_dhsc for the downhill speed control system and the set speed vset_cc. This can, for example, also be because an offset that relates the set speed vset_dhsc for the downhill speed control system to the set speed vset_cc for the cruise control system is relatively small. For example the set speed vset_dhsc for the downhill speed control system can be less than or equal to the infringement speed vsl.
When the vehicle in the first point in time T1 reaches the downhill gradient, the actual speed of the vehicle vact increases due to the weight of the vehicle from a level corresponding to the set speed vset_cc for the cruise control system.
In the example shown on FIG. 3 the reference speed vref_dhsc for the downhill speed control system is equal to the set speed vset_dhsc for the downhill speed control system during the initial time period T12 in the initial section P12 of the downhill gradient. Because of this, the actual vehicle speed vact is braked at the level of the reference speed vref_dhsc for the downhill speed control system, in other words here for the initial time period T12 vref_dhsc=vref_dhsc_initial=vset_dhsc.
According to the embodiment of the present invention exemplified in FIG. 3, an increased reference speed vref_dhsc_schwung=vset_dhsc+vschwung=vref_dhsc_initial+vschwung is permitted on the final section of the downhill gradient P23 and the section of road P34 following the downhill gradient, starting at the second position P2 at the second point in time T2, and ending at a fourth position P4 at a fourth point in time T4 when the actual vehicle speed vact once again drops below the set speed vset_dhsc for the downhill speed control system, which results in a variation of the reference speed of the downhill speed control system vref_dhsc according to Table 1 below. At the fourth point in time T4, when the actual vehicle speed vact is less than the set speed vset_dhsc for the downhill speed control system, the reference speed of the downhill speed control system vref_dhsc reverts to the set value, vref_dhsc=vset_dhsc.











TABLE 1





Time 






period/






distance
T01/P01
T12/P12
T23/P23
T34/P34







Vref_dhsc
Vset_dhsc
Vset_dhsc
Vref_dhsc_schwung =
Vref_dhsc_schwung =





Vref_dhsc_initial +
Vref_dhsc_initial +





Vschwung =
Vschwung =





Vset_dhsc + Vschwung 
Vset_dhsc + Vschwung









This format of the downhill speed control system reference speed vref_dhsc results in the format of the actual vehicle speed vact shown in FIG. 3. In other words, the actual vehicle speed vact peaks at the third point in time T3 at the end of the downhill gradient P3, where this peak reaches almost up to the increased reference speed vref_dhsc_schwung=vref_dhsc_initial+vschwung for the downhill speed control system at the third point in time T3. After that, the actual vehicle speed vact drops towards the set speed vset_cc for the cruise control system. Because of this, the vehicle with the excess speed vschwung has an increased actual speed at the end of the gradient P3, compared with the set speed vset_dhsc for the downhill speed control system, which results in a shorter driving time at the same time as fuel is saved.
As described above, according to the present invention, the second point in time T2 is established when the reference speed of the downhill speed control system vref_dhsc is to be given its increased value vref_dhsc_schwung=vref_dhsc_initial+vschwung based at least on one simulation of at least one future speed profile vsim for the vehicle, where at least one future speed profile vvim is simulated on the basis of topographic information. According to one embodiment, the simulation can also be based on ignoring the effect that the downhill speed control system would have had on the speed. The establishment of the point in time T2 is carried out in such a way that the system at every point in time evaluates whether the reference speed can be allocated its increased value vref_dhsc_schwung at this point in time, and if possible, the increased value vref_dhsc_schwung is essentially allocated at this point in time. In other words, the system looks ahead using the simulation of the future speed profile vsim in order to establish whether the increase is appropriate “now”, that is to say in direct connection with the point in time of the simulation and establishment. The figures designate the point in time at which it is established that an increase is appropriate as the second point in time T2 or the second position P2.
Establishing whether the allocation of the increased value vref_dhsc_schwung to the reference speed is appropriate, which can be said to correspond to an establishment of the second point in time T2 in the illustrations in this application, is carried out on the basis of comparisons of the future speed profile vsim with the infringement speed vsl and/or the magnitude of the increased reference value vref_dhsc_schwung, which will be described in more detail below.
Using the present invention, the increased reference speed vref_dhsc_schwung can be applied so that an excess speed vschwung, and consequently the actual speed vact, of the vehicle at the end of the gradient can be maximised, benefiting both driving time and fuel consumption.
FIG. 2b shows a flow diagram for one embodiment of the invention, with four steps 201, 202, 203, 204.
FIG. 4 shows a non-limiting example of a driving situation corresponding to that in FIG. 3 and in which the embodiment according to the flow diagram in FIG. 2b is illustrated. For the sake of clarity, the driving situation in FIG. 4 has been divided up into four periods of time similarly to FIG. 3.
In a first step 201 for the method of the present embodiment, at least one future speed profile vsim of the vehicle is simulated for a section of road in front of the vehicle. The simulation is carried out as described above, that is to say at least based on topographic information.
A second step 202 of the method establishes whether the simulated speed profile vsim is less than the increased reference speed vref_dhsc_schwung without the effect of the downhill speed control system, or if the infringement time Tt during which the future speed vsim exceeds an infringement speed vsl is too long, that is to say, if the infringement time Tt when vsim exceeds vsl is shorter than the infringement period Tsl. If the simulated speed profile vsim is greater than or equal to the increased reference speed vref_dhsc_schwung and/or if the infringement time Tt is longer than or equal to the infringement period Tsl the process progresses to the third step 203. In the third step 203 the reference speed vref_dhsc is allocated a lower initial value vref_dhsc_initial. This allocation takes place in FIG. 4 at the initial point in time T1, which is described in more detail below.
If the simulated speed profile vsim is less than the increased reference speed vref_dhsc_schwung and/or if the infringement time Tt is shorter than the infringement period Tsl, the process progresses to the fourth step 204.
In the fourth step 204, the reference speed vref_dhsc is allocated the increased value vref_dhsc_schwung. This allocation takes place in FIG. 4 at the second point in time T2, which is described in more detail below.
In the example shown in FIG. 4, the reference speed of the downhill speed control system vref_dhsc during the start time period T01 has a level corresponding to the level of the set speed for the downhill speed control system, vref_dhsc=vset_dhsc. The reference speed of the downhill speed control system vref_dhsc is then lowered by the downhill speed control system at the first point in time T1 at the start of the downhill gradient P1 to an initial level vref_dhsc_initial, which is lower than the level of the set speed vset_dhsc for the downhill speed control system, and retains this initial level vref_dhsc_initial during a first time period T12 in the initial section P12 of the downhill gradient. In other words, the three initial steps according to FIG. 2b are carried out here in connection with the first point in time T1.
Because of this, the actual vehicle speed vact is braked at the reduced level vref_dhsc_initial for the reference speed vref_dhsc for the downhill speed control system. One objective in allowing a reduction of the reference speed to an initial level vref_dhsc_initial, which is lower than the set speed vset_dhsc for the downhill speed control system, is to provide, at the end of the downhill gradient, exactly the set speed vset_dhsc selected by the driver without getting warnings and/or infringements for speeding. Another objective of this is to allow the adjustment of the infringement time Tt by which the future simulated speed profile exceeds the infringement speed.
With previously known systems, it has been possible to reduce the reference speed of the downhill speed control system at the first point in time T1 at the start of the downhill gradient P1 to an initial reduced level vref_dhsc_initial in order to then be maintained at this initial level vref_dhsc_initial throughout the entire downhill gradient so that the driver does not risk a speeding infringement.
Instead, according to the present invention, an increased reference speed vref_dhsc_schwung is allowed for the second time period T23 in the final section of the downhill gradient P23, because the simulated future speed vsim at the second point in time T2 meets the conditions in the second step 220 in the method described in FIG. 2a. This increased reference speed vref_dhsc_schwung, which is equal to the set speed vset_dhsc for the downhill speed control system, is then maintained in the third time period T34 and afterwards.
In other words, the reference speed vref_dhsc for the downhill speed control system varies according to Table 2 for the various time periods for the section of road in FIG. 4 if the present embodiment of the invention is utilised.











TABLE 2





Time 






period/






distance
T01/P01
T12/P12
T23/P23
T34/P34







Vref_dhsc
Vset_dhsc
Vref_dhsc_initial, 
Vref_dhsc_schwung =
Vref_dhsc_schwung =




where
Vref_dhsc_initial +
Vref_dhsc_initial +




Vref_dhsc_initial  < 
Vschwung = Vset_dhsc
Vschwung = Vset_dhsc




Vset_dhsc









As illustrated in FIG. 4, this format of the downhill speed control system reference speed vref_dhsc results in the actual vehicle speed vact peaking at the third point in time T3 at the end of the downhill gradient. In other words the actual vehicle speed vact is allowed to increase after the second point in time T2 until the actual vehicle speed vact reaches just under the increased reference speed vref_dhsc_schwung for the downhill speed control system at the third point in time T3, after which the actual vehicle speed vact drops towards the set speed vset_cc for the cruise control system. This gives the vehicle an increased actual speed at the end of the gradient P3, which is increased by an excess speed vschwung, because the increased reference speed vref_dhsc_schwung for the downhill speed control system is increased by this excess speed vschwung compared with the initial reference speed vref_dhsc_initial, vref_dhsc_schwung=vref_dhsc_initial+vschwung. This saves fuel because the kinetic energy Wk of the vehicle, which has been built up by gravity, can be utilised to propel the vehicle after the downhill gradient.
In order for the increased actual speed to give the correct format, that is to say a size and position in time/space that means that the kinetic energy of the vehicle can be utilised to the maximum, the second point in time T2 needs to be established. In other words the system must establish when the reference speed vref_dhsc for the downhill speed control system should be allocated its increased value vref_dhsc_schwung in order to optimally utilise the contribution from gravity, which also optimises fuel consumption and driving time. According to the invention, this is carried out by the system evaluating, for different points in time, whether it would be appropriate to give the reference speed vref_dhsc an increased value vref_dhsc_schwung at each of these points in time. If this is deemed appropriate at one point in time, which in this document is exemplified by the second point in time T2, the reference speed vref_dhsc is allocated the increased value vref_dhsc_schwung at this point in time.
According to the present invention, the second point in time T2 is established on the basis of at least one simulation of at least one future speed profile vsim for the vehicle, in other words, based on an estimation of the future format of the actual speed vact for the section of road. The at least one simulated speed profile vsim is simulated according to the invention on the basis of topographic information. According to one embodiment of the invention, the simulation is also carried out on the basis of ignoring the downhill speed control system.
Then it is established when, in other words at which second point in time T2, the excess speed vschwung is to be added to the downhill speed control system reference speed vref_dhsc in order to give the reference speed an increased value vref_dhsc_schwung, where this increased reference value gives an increased actual speed at the end of the gradient P3 that reaches this increased value for the downhill speed control system reference speed vref_dhsc_schwung. This establishment depends on the magnitude of the excess speed vschwung by which the initial reference speed vref_dhsc_initial is increased to obtain its increased value vref_dhsc_schwung and/or on the simulated speed profile relative to the infringement speed vsl.
According to one embodiment of the invention, after the downhill gradient in FIGS. 3 and 4, when the actual vehicle speed vact is less than vset_dhsc again the reference speed vref_dhsc is given its normal level, that is to say the set speed vset_dhsc. In addition, a braking margin can be utilised here in order to obtain a bumpless transition, that is to say that unwanted temporary downhill speed control can be prevented when changing the value of the reference speed vref_dhsc for the downhill speed control system.
FIG. 5 illustrates how the point in time at which the reference speed vref_dhsc is to be given the increased value vref_dhsc_schwung, that is to say the second point in time T2, according to one embodiment can be established as a value on the basis of one or more rules for giving infringements, where these infringements are related to speed violations. The method described here follows the method described in FIGS. 2a and/or 2b. 
According to one rule for giving infringements, one infringement is added to a digital tachograph card in the vehicle if the vehicle speed vact is established to have exceeded the infringement speed vsl for a period longer than the predetermined infringement period Tsl. In other words here the driver will be given an infringement if the actual vehicle speed vact exceeds the infringement speed for longer than the infringement period Tsl.
FIG. 5 shows a non-limiting example of a driving situation with topography corresponding to FIG. 3, that is to say comprising a downhill gradient. The information presented in FIG. 5 comprises the information presented in FIG. 3, but with an illustration of how the system works out that the reference speed vref_dhsc is to be given the increased value vref_dhsc_schwung at the second point in time T2.
According to the embodiment, the second point in time T2 is established on the basis of one or more simulations of the future vehicle speed vsim, by establishing the length of any infringement time Tt. Here the infringement time Tt corresponds to the time that the simulation of future vehicle speed vsim is calculated to exceed an infringement speed vsl in connection with said downhill gradient, more particularly during the second T23 and third T34 time periods in this example. Here the simulated infringement time Tt is compared with the infringement period Tsl which constitutes the time limit at which a warning and/or speeding infringement is given.
If the infringement time Tt is less than the infringement period Tsl, Tt<Tsl, as shown in FIG. 5, a temporary excess speed is acceptable and the reference speed vref_dhsc is given the increased value vref_dhsc_schwung at the second point in time.
If instead the infringement time Tt is greater than or equal to the infringement period Tsl, Tt≧Tsl, a temporary excess speed vschwung is not acceptable and a new simulation is carried out at a later point in time, for example in the order of magnitude of 1 second or 20 meters after the previous simulation. In other words a new simulation is carried out, and if, for example, the vehicle is approaching the end of the downhill gradient and the new infringement time Tt for the new simulation is less than the previous infringement time Tt the comparison of the new infringement time with the infringement period Tsl can result in the reference speed vref_dhsc being given the increased value vref_dhsc_schwung when the new simulation was carried out.
In other words, according to this embodiment, the second point in time T2 is established as a value such that the vehicle speed vact is calculated to exceed the infringement speed vsl for a shorter time than the predetermined infringement period Tsl. Because the infringement speed vsl and infringement period Tsl are known, and the future speed profile vsim can be simulated, T2 can also be calculated based on these so that the excess speed, and thus also the kinetic energy Wk, can be maximised at the end of the gradient T3, at the same time ensuring that no infringement is given, that is to say no infringement is logged in the digital tachograph card.
According to one embodiment of the invention, the magnitude of the temporary excess speed vschwung is established in such a way that the increased reference speed vref_dhsc_schwung is essentially equal to the actual vehicle speed vact allowed on the basis of the simulation result of the future vehicle speed vsim without breaking the rules for giving infringements related to speeding violations.
According to one embodiment of the invention the driver of the vehicle is given a warning if the vehicle speed vact exceeds the infringement speed vsl for an infringement time Tt longer than the infringement period Tsl.
According to one embodiment of the invention, this rule for when warnings are given can be utilised, similarly to the rule for logging infringements in the digital tachograph card is utilised, in order to establish the second point in time T2 when the reference speed vref_dhsc is given its increased value vref_dhsc_schwung.
According to this embodiment, the second point in time T2 is established as a value such that the simulated vehicle speed vsim is simulated to exceed the infringement speed vsl for a shorter time than the predetermined infringement period Tsl, hence no warning need be given to the driver. Because of this, the excess speed can be maximised at the end of the gradient T3, at the same time ensuring that no warning is given to the driver, which means that the risk of panicky braking in the final section of the gradient, as shown in FIG. 1b, can be avoided.
According to one embodiment of the invention, the allocation of the increased reference speed vref_dhsc_schwung to the reference speed vref_dhsc takes place if the simulated future speed profile vsim according to the simulation is less than the infringement speed vsl.
This allocation can be carried out on the basis of at least one comparison at at least one point in time and the current point in time of an infringement time Tt, during which the simulated future speed profile vsim according to the simulation will exceed said infringement speed vsl, for a predetermined infringement period Tsl. If the infringement time Tt is shorter than the infringement period Tsl the allocation takes place here.
FIG. 6 illustrates a more detailed embodiment of the invention for the establishment of the point in time for allocating the increased reference speed vref_dhsc_schwung to the reference speed vref_dhsc, according to which a comparison is made of the predetermined infringement period Tsl described above and at least one simulated infringement time Tt when it is predicted that vsl will be exceeded. FIG. 6 shows three different infringement times Tt0, Tt1 and Tt2, which are related to three different points in time t0, t1 and t2 respectively. Each of the infringement times Tt0, Tt1 and Tt2 are based on separate simulations of the future vehicle speed vsim_t0, vsim_t1 and vsim_t2, which are based on the actual vehicle speed vact at the three different points in time t0, t1 and t2 respectively. This comparison can then be utilised to establish whether the reference speed vref_dhsc is to be given its increased value vref_dhsc_schwung at any of the three different points in time t0, t1 and t2 respectively. In other words, this comparison is utilised to establish the second point in time T2, which is when the reference speed vref_dhsc is set to its increased value vref_dhsc_schwung.
According to an embodiment illustrated in FIG. 6, and which follows the flow diagram in FIG. 2a, these comparisons can be carried out in a first step 210 at a current point in time/position for the vehicle when t=t0, designated “current situation” in FIG. 6, by estimating a first future speed profile vsim_t0 for the vehicle's journey down and after the gradient. Then, in a second step 220, a first infringement time Tt0, during which the first future speed profile vsim_t0 is predicted to exceed the infringement speed vsl, is compared with the infringement period Tsl.
If the first infringement time Tt0 is shorter than the infringement period Tsl, that is to say if Tt0<Tsl, in a third step 230 at the current point in time/position t0 reference speed vref_dhsc is set to its increased value vref_dhsc_schwung, because this increase will not result in an infringement/warning. The current point in time/position t0 for the vehicle then corresponds to the second point in time T2.
If, on the other hand, the first infringement time Tt0 is longer than or equal to the infringement period Tsl, that is to say if Tt0≧Tsl, then no decision is made to increase the reference speed of the downhill speed control system vref_dhsc at the point in time t=t0.
Instead, at point in time t=t1, a further simulation is carried out of the future speed profile of the future vehicle speed vsim_t1 based on the new current position of the vehicle. In other words, up to the next simulation at t=t1 the vehicle is driven an arbitrary appropriate time/distance from the point in time/position when t=t0, where the/distance between t0 and t1 can be in the order of magnitude 1 second or 20 meters, for example.
At this additional current position a further future speed profile vsim_t1 is estimated.
Then a further infringement time Tt1, during which the further simulated speed profile vsim_t1 is predicted to exceed the infringement speed vsl, is compared with the infringement period Tsl. If the comparison shows that the further infringement time Tt1 is shorter than the infringement period Tsl, Tt1<Tsl, the reference speed of the downhill speed control system vref_dhsc is set to the increased value vref_dhsc_schwung from and including the point in time/position t=t1 on which the further simulation vsim_t1 is based.
If instead the comparison shows that the further infringement time Tt1 is longer than or equal to the infringement period Tsl, Tt1≧Tsl, a further future speed profile vsim_t2 is simulated at an additional current point in time/position t=t2. At the point in time/position t=t2 the vehicle has been driven an arbitrary appropriate time/distance, in the order of magnitude 20 meters for example, closer to end of the gradient. At this new further point in time/position t=t2 the further future speed profile vsim_t2 is simulated, which is utilised in order to, as described above, to compare a further infringement time Tt2 for the further simulated speed profile vsim_t2 with the infringement period Tsl.
If the comparison shows that the further infringement time Tt2 is shorter than the infringement period Tsl, Tt2<Tsl, the reference speed of the downhill speed control system vref_dhsc is set to the increased value vref_dhsc_schwung from and including the point in time/position t=t2 on which the further simulation vsim_t2 is based. In other words the second point in time T2 corresponds to the further point in time t2, T2=t2. In the example shown in FIG. 6 this is the case, clarified by designating T2 in FIG. 6 as T2,t2. Had the outcome instead been Tt2≧Tsl the algorithm had carried on in the same way until the second point in time T2 could be established as a later “current” position. In other words T2,t2 in FIG. 6 indicates the point in time when the reference speed vref_dhsc is set to the increased value vref_dhsc_schwung, which is when the further simulation vsim_t2 meets the requirements of the second step 220 in FIG. 2a. 
This embodiment describes an efficient calculation method for establishing when the reference speed vref_dhsc is to be given its increased value vref_dhsc_schwung, which contributes little to the complexity in the system. In addition, the algorithm is robust with regard to contingencies, such as unexpected braking at the start of the downhill gradient, because the point in time for when the reference speed vref_dhsc is to be set to its increased value vref_dhsc_schwung is not established before the downhill gradient is reached, but is always established on the basis of what the simulations look like in the current situation, that is to say at every discrete simulation time.
According to one embodiment of the invention, the point in time/position of the vehicle when t=t0, that is to say the “current situation”, or the concept “now” used in this document, is defined by adding an advance time, for example 1 second, in front of the actual point in time/position of the vehicle. This means that the simulations always take decisions based on current data.
According to one embodiment of the present invention, the reference speed vref_dhsc for the downhill speed control system is also governed during the first time period T12 in certain circumstances. Here, for example, the reference speed vref_dhsc for the downhill speed control system is governed on the basis of a driver selected set speed vset_dhsc for the downhill speed control system, in such a way that the reference speed vref_dhsc normally follows the set speed vset_dhsc. The reference speed vref_dhsc can also be governed to deviate from the set speed vset_dhsc in certain circumstances.
According to one embodiment of the invention, the reference speed vref_dhsc for the downhill speed control system is reduced to below the set speed vset_dhsc for the downhill speed control system if the simulated future speed profile vsim indicates that an actual vehicle speed vact will exceed an infringement speed vsl in connection with the downhill gradient. This reduction takes place before the increased reference speed vref_dhsc_schwung is allocated.
According to one embodiment, the reference speed vref_dhsc is reduced to below the set speed vset_dhsc during the first time period T12 at the start of the gradient if the simulated future speed profile vsim indicates that it will exceed the infringement speed vsl for at least the predetermined infringement period Tsl in connection with the downhill gradient. In other words, the reference speed vref_dhsc is reduced here below the set speed vset_dhsc during the first time period T12 if the future speed profile vsim indicates that an infringement and/or warning may be given, which reduces the risk of an infringement and/or warning being given. For example, this embodiment is shown in FIG. 5.
According to one embodiment, the reference speed vref_dhsc is reduced to below the set speed vset_dhsc during the first time period T12 if the simulated future speed profile vsim indicates that it will exceed the increased reference speed vref_dhsc_schwung in the downhill gradient, for example for at least a predetermined infringement period Tsl in connection with the downhill gradient. In other words, the reference speed vref_dhsc_schwung is reduced at the start of the gradient if the future speed profile vsim indicates that the increased reference speed vref_dhsc_schwung will be exceeded, which reduces the risk of the driver braking manually, as shown in FIG. 1b, and also reduces the risk of an infringement and/or warning being given. For example this embodiment is shown in FIG. 4.
Of the present invention, at least one future speed profile vsim is simulated on the basis of topographic information and on one magnitude for the excess speed vschwung. According to one embodiment of the invention, this excess speed vschwung is established so that the increased reference speed vref_dhsc_schwung for the downhill speed control system will be essentially the same as the set speed vset_dhsc for the downhill speed control system. This embodiment is illustrated, for example, in FIGS. 4 and 5, in which the initial reference speed vref_dhsc_initial is reduced in relation to the set speed vset_dhsc during the first time period T12 and then at the second point in time T2 is given an increased value which corresponds to the value of the set speed vset_dhsc.
According to one embodiment of the invention, during the first section of the downhill gradient in other words during the first time period T12 the reference speed of the downhill speed control system vref_dhsc will adopt an initial value of the reference speed vref_dhsc_initial, which here corresponds to the set speed vset_cc for the cruise control system vset_cc propelling the vehicle, when the reference speed vref_cc for the cruise control system propelling the vehicle is less than vset_cc. If the reference speed vref_cc is less than the set speed vset_cc for the cruise control system, the cruise control system will reduce the vehicle speed prior to the downhill gradient. In other words, the cruise control propelling the vehicle is of the look ahead type.
This is illustrated in FIG. 7, in which the reference speed vref_dhsc for the downhill speed control system during the first time period T12 is essentially the same as the set speed vset_cc for the cruise control system. In other words, here the initial value of the reference speed vref_dhsc_initial is the same as the set speed vset_cc for the cruise control system during the first time period T12, as described above for FIG. 2b. 
In accordance with the method according to the embodiment illustrated in FIG. 2b, the reference speed vref_dhsc for the downhill speed control system will be the same as this initial value for the reference speed vref_dhsc_initial until the condition in the second step 202 has been met, that is to say until vsim<vref_dhsc_schwung and/or Tt<Tsl.
In other words, the increased reference speed vref_dhsc_schwung will be obtained at the second point in time T2, because the future speed profile vsim simulated then indicates that the vehicle will not reach the temporary increased reference speed vref_dhsc_schwung, which can be indicated by the system or by the driver, and/or that the infringement time Tt, because the simulation of the future speed profile vsim is greater than the infringement speed vsl, does not exceed the infringement period Tsl.
To reduce the risk of the driver needing to intervene after the downhill gradient due to the distance to the vehicle in front being too short, the reference speed of the downhill speed control system vref_dhsc will start by being the same as the set speed vset_cc for the cruise control system on long downhill gradients. This generally means that the distance to the vehicle in front increases before the downhill gradient, which in turn allows a temporary speed increase at the end of the downhill gradient.
According to one embodiment of the invention, the magnitude of the excess speed vschwung depends on a reference speed vref_cc for a reference speed governed cruise control system, wherein the reference speed vref_dhsc takes account of the cruise control system's governing of its reference speed vref_cc. In other words, this can mean that the initial value for the reference speed vref_dhsc_initial is not as great as the set speed vset_cc for the cruise control system.
According to one embodiment, the increased value of the reference speed of the downhill speed control system vref_dhsc_schwung is related to the set speed vset_cc for the cruise control system with a constant C, that is to say vref_dhsc_schwung=C*vset_cc, where C has a predetermined value, for example 1.06.
Relating the magnitude of the excess speed vschwung to the set speed or reference speed for the cruise control system achieves a very favourable profile for the actual vehicle speed vact. This is illustrated in an example in FIG. 7, in which the governing of the reference speed vref_dhsc for the downhill speed control system is coordinated with the function of a reference speed governing cruise control system.
For example, the reference speed governing cruise control system can reduce the reference speed vref_cc compared with its set speed vset_cc prior to the downhill gradient, which means that the actual speed vact drops prior to the downhill gradient, as shown in FIG. 7 (where the reference speed vref_cc is a dotted line). The reference speed governing cruise control system can then utilise the acceleration of the vehicle due to its weight on the downhill gradient in order to save fuel. When account is taken of this function in the reference speed governing cruise control system, when governing the reference speed vref_dhsc for the downhill speed control system, the magnitude of the increased reference speed vref_dhsc_schwung for the downhill speed control system can be maximised. For example, here the reference speed vref_dhsc for the downhill speed control system can be set to the same as the set speed vset_cc for the reference speed governing cruise control system, vref_dhsc=vset_cc, during the initial period T12 of the downhill gradient, as illustrated in FIG. 7. This provides a soft transition from the use of engine torque to braking.
The increased reference speed vref_dhsc_schwung which is achieved using the present invention results, as described above, in an increased actual vehicle speed at the end of the downhill gradient, which also means an increased kinetic energy Wk for the vehicle.
The increased reference speed vref_dhsc_schwung can result in one or more actions being carried out in the vehicle because an increased actual speed is permitted. Such actions comprise the magnitude of a braking force being reduced, that changing up is carried out, that a gear change to neutral is carried out, and that a transition to engine braking is carried out.
According to one embodiment of the invention, the increased reference speed vref_dhsc_schwung is maintained for as long as the actual vehicle speed vact is greater than or equal to the set speed vset_dhsc for the downhill speed control system. In other words, the reference speed vref_dhsc reverts from its increased value vref_dhsc_schwung when the actual vehicle speed vact is once again less than the set speed vset_dhsc for the downhill speed control system.
Experts will appreciate that a method of governing a reference speed vref_dhsc for a downhill speed control system according to the present invention can also be implemented in a computer program, which when executed in a computer will result in the computer carrying out the method. The computer program normally comprises a computer program product (803 in FIG. 8) stored on a digital storage medium, in which the computer program is included in the computer readable medium of the computer program product. Said computer readable medium comprises a suitable non-volatile memory, such as: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk drive, etc.
According to one aspect of the present invention, a system is provided for governing a reference speed vref_dhsc for a downhill speed control system in a vehicle in connection with a downhill gradient. The system is arranged to provide an increased reference speed vref_dhsc_schwung at a final section of the downhill gradient, during the second T23 and third T34 time period.
According to the present invention, the system comprises a simulation unit which is arranged to simulate at least one future speed profile vsim for the actual vehicle speed over a section of road in front of the vehicle. This at least one future speed profile vsim is based on topographic information.
According to one embodiment of the invention, the at least one future speed profile vsim is based on ignoring any possible effect that the downhill speed control system could have had on the speed profile vsim. In other words, for this embodiment, no account is taken of the function of the downhill speed control system during the simulation.
The system also comprises an establishing unit that is arranged to establish whether the reference speed vref_dhsc is to be allocated its increased value vref_dhsc_schwung. This establishment is carried out on the basis of a comparison of the simulated future speed profile vsim with a permitted magnitude of the increased reference speed vref_dhsc_schwung and/or with an infringement speed vsl. In other words, the comparison can be made with the increased reference speed vref_dhsc_schwung on its own, with the infringement speed vsl on its own, or through a combination of these comparisons.
Furthermore, the system comprises an allocation unit that is arranged to increase the reference speed vref_dhsc to its increased value vref_dhsc_schwung if the establishment unit has established that this should take place. The simulation, establishment and increase take place “now”, which essentially means at the point in time of the establishment, where this space of time comprises the time taken to carry out the simulation, determination and increase.
Here, according to one embodiment, the increased reference speed vref_dhsc_schwung can have a level which, with an excess speed vschwung, exceeds an initial level vref_dhsc_initial of the reference speed at a first section of said downhill gradient, during the first time period T12, as shown in FIGS. 4, 5 and 7.
FIG. 8 shows a control unit 800 schematically. The control unit 800 comprises a calculation unit 801, which can essentially comprise a suitable type of processor or microcomputer, e.g. a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit with a predetermined specific function (Application Specific Integrated Circuit, ASIC). Calculation unit 801 is connected to a data storage unit 802 arranged in the control unit 800, which provides the calculation unit 801 with the stored program code and/or the stored data the calculation unit 801 needs in order to carry out calculations. The calculation unit 801 is also arranged to store part results or end results of calculations in the data storage unit 802.
Furthermore the control unit 800 is provide with devices 811, 812, 813, 814 for the reception and transmission of input and output signals. These input and output signals can comprise waves, pulses or other attributes, which devices 811, 813 for the reception of input signals can detect as information and can be converted into signals that can be processed by calculation unit 801. These signals are then provided to the calculation unit 801. The devices 812, 814 for the transmission of output signals are arranged to convert the signals obtained from the calculation unit 801 to create output signals, for example by modulating the signals, which can be transmitted to other parts of the system for governing the reference speed vref_dhsc for a downhill speed control system.
Each of the connections to the devices for the reception and transmission of the input and output signals can comprise one or several of the following: a cable, a data bus such as a CAN bus (Controller Area Network bus), a MOST bus (Media Orientated Systems Transport bus), or some other bus configuration. Or the connection can be wireless.
An expert will appreciate that the aforementioned computer can comprise the calculation unit 801 and that the aforementioned memory can comprise the data storage unit 802.
An expert will also appreciate that the above system can be modified according to the various embodiments of the method of the invention. In addition, the invention relates to a motor vehicle, for example a truck or a bus, comprising at least one system for governing a reference speed vref_dhsc for a downhill speed control system according to the invention.
The present invention is not limited to the embodiments of the invention described above, it relates to and comprises all embodiments within the scope of the attached independent claims.

## Claims

1. A method for governing a reference speed vref_dhsc for a downhill speed control system in a vehicle in connection with vehicle travel on a downhill gradient, which enables an increased reference speed vref_dhsc_schwung of the vehicle in a final part of said gradient,
the method comprises:
simulating at least one future speed profile vsim for an actual speed for said vehicle on a section of road in front of said vehicle, wherein said simulation is based on topographic information;
establishing whether said reference speed vref_dhsc is to be allocated said increased reference speed vref_dhsc_schwung, wherein said establishing is based on a comparison of said simulated future speed profile vsim with at least one of a permitted magnitude for said increased reference speed vref_dhsc_schwung and an infringement speed vsl;
allocating said increased reference speed vref_dhsc_schwung to said reference speed vref_dhsc; and
after said allocating, changing said actual speed for said vehicle on said section of road in front of said vehicle with said speed control system in said vehicle in connection with vehicle travel on a downhill gradient.

2. The method according to claim 1, wherein said establishing is also calculated based on a rule for giving infringements related to speeding violations.

3. The method according to claim 2, wherein said rule for giving infringements puts an infringement into a tachograph in said vehicle if an actual vehicle speed vact exceeds an infringement speed vsl for a predetermined infringement period Tsl.

4. The method according to claim 2, further comprising giving a warning to a driver of said vehicle of an actual vehicle speed vact exceeding an infringement speed vsl for a predetermined infringement period Tsl.

5. The method according to claim 1, further comprising governing said reference speed vref_dhsc for said downhill speed control system based on a selected set speed vset_dhsc for said downhill speed control system.

6. The method according to claim 5, further comprising prior to said allocating of said increased reference speed vref_dhsc_schwung reducing said reference speed vref_dhsc for said downhill speed control system below said set speed vset_dhsc for said downhill speed control system, if said simulated future speed profile vsim indicates that an actual vehicle speed vact will exceed an infringement speed vsl for at least a predetermined infringement period Tsl in connection with said downhill gradient.

7. The method according to claim 6, further comprising establishing a magnitude of said increased reference speed vref_dhsc_schwung for said downhill speed control system as being essentially the same as said set speed vset_dhsc for said downhill speed control system.

8. The method according to claim 1, further comprising establishing a magnitude of said increased reference speed vref_dhsc_schwung for said downhill speed control system as being essentially the same as an actual vehicle speed vact which can be permitted without infringing a rule for giving infringements related to speed violations.

9. The method according to claim 1, further comprising allocating said increased reference speed vref_dhsc_schwung to said reference speed vref_dhsc when said simulated future speed profile vsim according to the simulation will be less than said infringement speed vsl.

10. The method according to claim 9, further comprising said allocating comprising at least once comparing at least one point in time and a current point in time of an infringement time Tt, during which said simulated future speed profile vsim according to said simulating will exceed said infringement speed vsl, for a predetermined infringement period Tsl.

11. The method according to claim 1, wherein said establishing of a second point in time T2 when said allocating of said increased reference speed vref_dhsc_schwung to said reference speed vref_dhsc takes place comprises comparing an infringement time Tt, during which said simulated future speed profile vsim according to the simulation will exceed said infringement speed vsl, for a predetermined infringement period Tsl.

12. The method according to claim 11, wherein said establishing of said second point in time T2 comprises the steps of:
simulating a first future speed profile vsim_t0 for said vehicle;
at a current point in time t0 for said vehicle,
comparing a first infringement time Tt0 with said infringement period Tsl, wherein said first infringement time Tt0 corresponds to a time when said first future speed profile vsim_t0 is simulated to exceed said infringement speed vsl, wherein:
if said first infringement time Tt0 is shorter than said infringement period Tsl, Tt0<Tsl,
setting said second point in time T2 to said current position, T2=t0;
if said first infringement time Tt0 is equal to or longer than said infringement period Tsl, Tt0>Tsl, leaving said reference speed vref_dhsc unchanged and further simulating at least one future speed profile vsim_t1, vsim_t2 for said vehicle, based on a further current point in time t1, t2 to which said vehicle has moved since said current position t0;
comparing at least one further infringement time Tt1, Tt2 with said infringement period Tsl, where said at least one further infringement time Tt1, Tt2 corresponds to a time when said first future speed profile vsim_t0 is simulated to exceed said infringement speed vsl, wherein:
if said at least one further infringement time Tt1, Tt2 is shorter than said infringement period Tsl, Tt1<Tsl, or Tt2<Tsl, setting said second point in time T2 to said current point in time position, T2=t1 or T2=t2 and
if said at least one further infringement time Tt1, Tt2 is equal to or longer than said infringement period Tsl, Tt1>Tsl, or Tt2>Tsl, leaving said reference speed vref_dhsc unchanged and performing at least one further simulation of a future speed profile.

13. The method according to claim 1, further comprising performing said allocating of said reference speed Vref_dhsc to said increased reference speed vref_dhsc_schwung if said simulated future speed profile vsim remains less than said increased reference speed vref_dhsc_schwung.

14. The method according to claim 1, further comprising coordinating said control of said reference speed vref_dhsc with a control carried out by a cruise control system for setting said reference speed vref_dhsc to a value corresponding to a set speed vset_cc for said cruise control system.

15. The method according to claim 1, further comprising coordinating said control of said reference speed vref_dhsc for said downhill speed control system with a function for a reference speed governing cruise control system for maximizing said magnitude of said increased reference speed vref_dhsc_schwung.

16. The method according to claim 15, further comprising controlling said reference speed vref_dhsc for said downhill speed control system taking account of a reduction of said reference speed vref_cc for said reference speed governing cruise control system prior to said downhill gradient.

17. The method according to claim 16, further comprising temporarily reducing said reference speed vref_dhsc for said downhill speed control system to an initial level vref_dhsc_initial for said reference speed, if said simulated future speed profile vsim indicates that an actual vehicle speed vact will exceed an infringement speed vsl for at least a predetermined infringement period Tsl in connection with said downhill gradient.

18. The method according to claim 16, further comprising temporarily reducing said reference speed vref_dhsc for said downhill speed control to an initial level vref_dhsc_initial for said reference speed if said simulated future speed profile vsim is at least partially greater than or equal to said increased reference speed vref_dhsc_schwung.

19. The method according to claim 18, wherein said increased reference speed vref_dhsc_schwung has a level which, with an excess speedvschwung, exceeds an initial level vref_dhsc_initial of said reference speed at a first section of said downhill gradient.

20. The method according to claim 19, further comprising permitting said reference speed vref_dhsc to retain its increased value vref_dhsc_schwung until an actual vehicle speed vact is less than a set speed vset_dhsc for said downhill speed control system.

21. The method according to claim 20, wherein said increased reference speed vref_dhsc_schwung for said downhill speed control system causes at least one action in a group consisting of:
reducing a magnitude of a braking force acting in said vehicle;
performing a gear change in said vehicle into a higher gear;
performing a gear change in said vehicle to neutral gear; and
performing a transition to engine braking of said vehicle.

22. The method according to claim 18, wherein said increased reference speed vref_dhsc_schwung causes an increased actual vehicle speed at the final section of said downhill gradient, compared with an actual vehicle speed vact which had resulted in said initial reference speed vref_dhsc_initial for said downhill speed control system, wherein said increased actual vehicle speed means that said vehicle leaves said downhill slope with increased kinetic energy Wk.

23. The method according to claim 1, wherein said simulation of said at least one future speed profile vsim is based on ignoring the effect of said downhill speed control system.

24. A system for governing a reference speed vref_dhsc for a downhill speed control system in a vehicle, in connection with a downhill gradient, wherein said system is configured and operable to provide an increased reference speed vref_dhsc_schwung in a final part of said gradient, said system comprising:
a simulation unit configured to simulate at least one future speed profile vsim for an actual speed for said vehicle on a section of road in front of said vehicle, where said simulation is based on topographic information;
an establishment unit configured to establish whether said reference speed vref_dhsc is to be allocated said increased reference speed vref_dhsc_schwung,
wherein said establishment unit is configured to compare said simulated future speed profile vsim with at least one of a permitted magnitude for said increased reference speed vref_dhsc_schwung and an infringement speed vsl, and
an allocation unit configured to allocate said increased reference speed vref_dhsc_schwung to said reference speed vref_dhsc,
wherein said downhill speed control system is configured to change said actual speed, for said vehicle on said section of road in front of said vehicle in connection with vehicle travel on a downhill gradient.