Abstract: A method for an economical cruise control and an economical cruise control which demands from a vehicle engine system a reference speed vref, which may differ from a chosen set speed vset. Adjustment of at least the set speed vset is allowed when the reference speed vref differs from the set speed vset. The adjustment is based at least partly on input from a user of the economical cruise control. A user of the economical cruise control is thus provided with an increased feeling of control over the vehicle's speed.

Abstract: A method for controlling a vehicle's speed, including: acquiring a set speed; determining, using using map and location data, a horizon made of route segments, each with a route characteristic; performing simulation cycles, each including: predicting the speed according to a conventional cruise control, which first prediction depends on the route characteristic; comparing the first predicted speed with lower and upper limit values, which define an engine torque for use in the next simulation cycle; making a second prediction of the speed when the engine torque depends on the comparison in the immediately preceding simulation cycle; comparing, as a second comparison, the second predicted speed with second lower and upper limit values, which delineate a speed range within which the speed is maintained; determining, based on the second comparison and/or the second predicted speed in this simulation cycle, a reference value for use by a vehicle control system.

Abstract: Described is a method for determining a reference value for a vehicle. The method includes: performing a number of simulation cycles Sj each comprising simulation steps: making a first prediction of the vehicle's speed vpred_cc along the determined horizon with a conventional cruise control; comparing, in a first comparison, the predicted vehicle speed vpred_cc with vlim1 and vlim2, which define a motor torque used in a subsequent simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said comparison in the latest preceding simulation cycle; comparing, in a second comparison, the predicted vehicle speed vpred_Tnew with vmin, and vmax1 which demarcate a range within which the speed is maintained; determining the reference value based on the second comparison and/or the second predicted speed in that simulation cycle Sj; and controlling the vehicle according to the reference value.

Abstract: A reference value for controlling a vehicle's speed is obtained by: receiving a choice from two selectable driving modes, each driving mode having a unique set of settings that influence the calculation of the reference value; making a first prediction, based on an engine torque Tret that retards the vehicle as compared with conventional cruise control, and a second prediction based on an engine torque Tacc that accelerates the vehicle as compared with conventional cruise control; comparing the first and second predictions with a lower limit value and/or an upper limit value, which delineate a speed range within which the speed should be; and determining the reference value based on the mode choice and on at least one of the comparisons and said first prediction and second prediction of the speed along the horizon, such that the reference value is within the speed range.

Abstract: A method for operation of a reference-speed-regulating cruise control and a reference-speed-regulating cruise control which demands from a vehicle engine system a reference speed vref which may differ from a chosen set speed vset. Adjustment of at least the set speed vset is allowed if the reference speed vref differs from the set speed vset, which adjustment is based at least partly on a current speed vpres of the vehicle and on input from a user of the reference-speed-regulating cruise control. Quick and simple user-controlled adjustment of the set speed vset is thus achieved.

Abstract: At least one reference value is determined for controlling a vehicle's speed by a method that includes predicting, in a first prediction, a first speed based an engine torque that retards the vehicle as compared with a conventional cruise control along a horizon, and, in a second prediction, a second speed based on an engine torque that accelerates the vehicle as compared with the conventional cruise control; comparing the first and second speeds with a lower limit value and/or an upper limit value which delineate a speed range within which speed is maintained, with an offset added to said lower and/or upper limit values if the vehicle is in a route segment that includes a steep hill; and determining the at least one reference value based on the respective comparisons and the first and second predicted speeds.

Abstract: A system for handling errors in map data Dmap. Information I related to map data Dmap is determined by a determination unit. An identification unit then identifies at least one error in the map data Dmap on the basis of the information I determined. Thereafter a storage unit stores data D related to the at least one error identified in map data Dmap. A data providing unit can then at least partly disregard the map data Dmap including the error, when supplying map data Dmap, so that the stored data D may instead be used in decision making. The risk of decisions being based on erroneous map data Dmap may thus be minimized.

Abstract: A method for determining a reference value for controlling a vehicle's speed by a vehicle control system is described. The method includes: making a first prediction and a second prediction of the speed along a horizon, the first prediction based on an engine torque that retards the vehicle as compared with a conventional cruise control, and the second prediction based on an engine torque that accelerates the vehicle as compared with the conventional cruise control; comparing the first prediction and second prediction, respectively, with a lower limit value and/or an upper limit value, which delineate a speed range within which the speed is to be maintained; and determining the reference value based on at least one of the respective comparisons and the first prediction and second prediction so that the set speed is within the speed range bounded by the lower and upper limit values.

Abstract: Described is a method for determining a reference value for a vehicle. The method includes: performing a number of simulation cycles Sj each comprising simulation steps: making a first prediction of the vehicle's speed vpred—cc along the determined horizon with a conventional cruise control; comparing, in a first comparison, the predicted vehicle speed vpred—cc with Vlim1 and Vlim2, which define a motor torque used in a subsequent simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said comparison in the latest preceding simulation cycle; comparing, in a second comparison, the predicted vehicle speed vpred—Tnew with vmin, and Vmax1 which demarcate a range within which the speed is maintained; determining the reference value based on the second comparison and/or the second predicted speed in that simulation cycle Sj; and controlling the vehicle according to the reference value.

Abstract: Reference speed values for a vehicle's control system are determined by: determining, using map and location data, route segments, each with route characteristics; performing, simulation cycles, each comprising simulation steps of: predicting the speed when the set speed is imparted as the reference speed; comparing with first lower and upper limit values, which define an engine torque, for use in the next simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said first comparison in the immediately preceding simulation cycle; comparing the second predicted vehicle speed with second lower and upper limit values, which delineate a range within which the speed is maintained, with an offset added if the vehicle is in a route segment with a steep hill; and determining the reference value based on the second comparison and/or the second predicted vehicle speed.

Abstract: A method for determination of at least one reference value for controlling a vehicle's speed is described. The method may entail making a first prediction vpred—Tnew—ret and a second prediction vpred—Tnew—acc of a vehicle speed along a horizon, said first prediction based on an engine torque Tret which retards the vehicle as compared with a conventional cruise control, and said second prediction based on an engine torque Tacc which accelerates the vehicle as compared with a conventional cruise control; comparing said respective first prediction vpred—Tnew—ret and second prediction vpred—Tnew—acc of the vehicle speed with a lower limit value vmin and/or an upper limit value vmax which delineate a range within which the vehicle's speed should be; and determining at least one reference value based on at least one of said respective comparisons and said first prediction vpred—Tnew—ret and second prediction vpred—Tnew—acc of the vehicle speed along the horizon.

Abstract: At least one reference value is determined for controlling a vehicle's speed by a method that includes predicting, in a first prediction, a first speed based an engine torque that retards the vehicle as compared with a conventional cruise control along a horizon, and, in a second prediction, a second speed based on an engine torque that accelerates the vehicle as compared with the conventional cruise control; comparing the first and second speeds with a lower limit value and/or an upper limit value which delineate a speed range within which speed is maintained, with an offset added to said lower and/or upper limit values if the vehicle is in a route segment that includes a steep hill; and determining the at least one reference value based on the respective comparisons and the first and second predicted speeds.

Abstract: A method and a system for determining a running resistance Fres for a vehicle. A model-based running resistance Fres,mod is estimated. Thereafter an energy change difference ?Wdiff between a model-based estimated energy change ?Wpred and an actual energy change ?Wreal is determined for the vehicle from a starting point to an end point of a distance S which is traveled by the vehicle. A braking force Funknown which is unknown to the model and which acts upon the vehicle over the distance S is also determined on the basis of the energy change difference ?Wdiff. Thereafter the running resistance Fres is determined to an adjusted value of the model-based estimate of the running resistance Fres,mod, the adjustment being based on the braking force Funknown which is unknown to the model.

Abstract: A method for controlling a vehicle's speed by adopting a desired speed vset for the vehicle; determining a horizon for the intended itinerary made up of route segments, effecting the following during each of a number of simulation cycles (s) each comprising a number N of simulation steps conducted at a predetermined frequency f: first predicting the vehicle's speed vpred—cc along the horizon with conventional cruise control when vset is presented as reference speed, comparing the predicted vehicle speed vpred—cc in a range vmin to vmax, making a second prediction of the vehicle's speed vpred—Tnew along the horizon based on the vehicle's engine torque T; determining a reference value for how the vehicle's speed is to be influenced on the basis of at least one of the comparisons and the predicted vehicle speed vpred—Tnew; controlling the vehicle by the reference value. A module for the foregoing controls a vehicle's speed.

Abstract: A reference value for controlling a vehicle's speed is obtained by: receiving a choice from two selectable driving modes, each driving mode having a unique set of settings that influence the calculation of the reference value; making a first prediction, based on an engine torque Tret that retards the vehicle as compared with conventional cruise control, and a second prediction based on an engine torque Tacc that accelerates the vehicle as compared with conventional cruise control; comparing the first and second predictions with a lower limit value and/or an upper limit value, which delineate a speed range within which the speed should be; and determining the reference value based on the mode choice and on at least one of the comparisons and said first prediction and second prediction of the speed along the horizon, such that the reference value is within the speed range.

Abstract: A method for determination of at least one reference value for controlling a vehicle's speed is described. The method may entail making a first prediction vpred—Tnew—ret and a second prediction vpred—Tnew—acc of a vehicle speed along a horizon, said first prediction based on an engine torque Tret which retards the vehicle as compared with a conventional cruise control, and said second prediction based on an engine torque Tacc which accelerates the vehicle as compared with a conventional cruise control; comparing said respective first prediction vpred—Tnew—ret and second prediction vpred—Tnew—acc of the vehicle speed with a lower limit value vmin and/or an upper limit value vmax which delineate a range within which the vehicle's speed should be; and determining at least one reference value based on at least one of said respective comparisons and said first prediction vpred—Tnew—ret and second prediction vpred—Tnew—acc of the vehicle speed along the horizon.

Abstract: A method for controlling a vehicle's speed, including: acquiring a set speed; determining, using using map and location data, a horizon made of route segments, each with a route characteristic; performing simulation cycles, each including: predicting the speed according to a conventional cruise control, which first prediction depends on the route characteristic; comparing the first predicted speed with lower and upper limit values, which define an engine torque for use in the next simulation cycle; making a second prediction of the speed when the engine torque depends on the comparison in the immediately preceding simulation cycle; comparing, as a second comparison, the second predicted speed with second lower and upper limit values, which delineate a speed range within which the speed is maintained; determining, based on the second comparison and/or the second predicted speed in this simulation cycle, a reference value for use by a vehicle control system.

Abstract: Reference speed values for a vehicle's control system are determined by: determining, using map and location data, route segments, each with route characteristics; performing, simulation cycles, each comprising simulation steps of: predicting the speed when the set speed is imparted as the reference speed; comparing with first lower and upper limit values, which define an engine torque, for use in the next simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said first comparison in the immediately preceding simulation cycle; comparing the second predicted vehicle speed with second lower and upper limit values, which delineate a range within which the speed is maintained, with an offset added if the vehicle is in a route segment with a steep hill; and determining the reference value based on the second comparison and/or the second predicted vehicle speed.

Abstract: Described is a method for determining a reference value for a vehicle. The method includes: performing a number of simulation cycles Sj each comprising simulation steps: making a first prediction of the vehicle's speed vpred—cc along the determined horizon with a conventional cruise control; comparing, in a first comparison, the predicted vehicle speed vpred—cc with Vlim1 and Vlim2, which define a motor torque used in a subsequent simulation cycle; making a second prediction of the speed when the engine torque is a value that depends on the result of said comparison in the latest preceding simulation cycle; comparing, in a second comparison, the predicted vehicle speed vpred—Tnew with vmin, and Vmax1 which demarcate a range within which the speed is maintained; determining the reference value based on the second comparison and/or the second predicted speed in that simulation cycle Sj; and controlling the vehicle according to the reference value.

Abstract: A method for determining a reference value for controlling a vehicle's speed by a vehicle control system is described. The method includes: making a first prediction and a second prediction of the speed along a horizon, the first prediction based on an engine torque that retards the vehicle as compared with a conventional cruise control, and the second prediction based on an engine torque that accelerates the vehicle as compared with the conventional cruise control; comparing the first prediction and second prediction, respectively, with a lower limit value and/or an upper limit value, which delineate a speed range within which the speed is to be maintained; and determining the reference value based on at least one of the respective comparisons and the first prediction and second prediction so that the set speed is within the speed range bounded by the lower and upper limit values.