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1. 发明申请

WO2011126431A1 METHOD AND MODULE PERTAINING TO CRUISE CONTROL 审中-公开
标题翻译：对巡视控制的方法和模块
公开(公告)号：WO2011126431A1
公开(公告)日：2011-10-13
申请号：PCT/SE2011/050364
申请日：2011-03-30
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , SÖDERGREN, Maria , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , SÖDERGREN, Maria , PETTERSSON, Henrik
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W10/06 , B60K31/00 , B60W10/10 , B60W30/143 , B60W30/18072 , B60W50/0097 , B60W50/082 , B60W2530/10 , B60W2550/13 , B60W2550/143 , B60W2550/402 , B60W2710/06 , B60W2720/10 , B60W2720/103
摘要： The invention relates to a method for determining speed set-point values v ref for a control system in a vehicle, which method comprises: A) determining a horizon by means of location data and map data for an itinerary made up of route segments and at least one characteristic for each segment; B) calculating speed set-point values v ref for the vehicle's control system along the horizon on the basis of rules pertaining to characteristics of segments, and when a lowering of the vehicle's entry speed V in, i to a segment is calculated to be necessary if the end speed v slut , i in the segment is to be ≤ v max and unnecessary braking thereafter is consequently to be avoided, the method comprises: C) calculating within the horizon a trigger location from which the fuel injection to the vehicle has to be throttled in order to achieve a lowering to V in, i, provided that vm;n ≤ v ref ≤ v max , where v min and v max set the limits for permissible speeds for v ref, which trigger location is subject to continued calculations of speed set-point values v ref, and D) regulating the vehicle according to the speed set-point values v ref . The invention relates also to a module arranged to calculate speed set-point values v ref for a control system in a vehicle.
摘要翻译：本发明涉及一种用于确定车辆中的控制系统的速度设定值vref的方法，该方法包括：A）通过位置数据和由路线段组成的行程的地图数据确定地平线，并且至少每个段的一个特征; B）基于与段特征有关的规则，计算车辆控制系统沿着地平线的速度设定值vref，以及当车辆的进入速度Vin，i降到一段被计算为必要时，如果结束速度vslut，则该段中的i为= vmax，因此，此后不必要的制动将被避免，该方法包括：C）在水平线内计算触发位置，从该位置到燃料喷射到车辆的顺序必须按顺序如果vm; n = vref = vmax，其中vmin和vmax设置vref的允许速度的限制，哪个触发位置受速度设定值vref的持续计算，而D ）根据速度设定值vref调节车辆。本发明还涉及一种被配置为计算车辆中的控制系统的速度设定值vref的模块。

2. 发明申请

WO2010144028A1 METHOD AND MODULE FOR CONTROLLING A VELOCITY OF A VEHICLE 审中-公开
标题翻译：用于控制车辆速度的方法和模块
公开(公告)号：WO2010144028A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050591
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik , SÖDERGREN, Maria
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik , SÖDERGREN, Maria
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W30/143 , B60W40/06 , B60W2550/142 , B60W2550/402 , Y02T10/56 , Y02T10/84
摘要： The invention relates to a method for regulating a vehicle's speed. The method comprises the steps of: determining a horizon by means of position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment; calculating threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons; and, for each segment within the horizon which is in a category indicating a steep upgrade or a steep downgrade, the method comprises: calculating the vehicle's final speed v end after the end of the segment, based inter alia on the entry speed v i to said segment; and determining the entry speed v i for said segment based on the calculated final speed v end for the segment, which determination is defined by rules for said segment's category, so that the vehicle's final speed v end is within the range defined by v max and v min for the vehicle's current reference speed v set , on the supposition that V i is determined within the same range; and regulating the vehicle's speed according to speed set-point values v ref based on the entry speeds v i to each segment.
摘要翻译：本发明涉及一种用于调节车辆速度的方法。该方法包括以下步骤：通过位置数据和由具有每个段的长度和梯度特征的路段组成的行程的地图数据来确定水平; 根据一个或多个车辆特定值计算段的梯度的阈值，该阈值用作将段分配到各种类别的边界; 将每个段的梯度与阈值进行比较，并根据比较结果将每个段落放置在范围内的类别中; 并且对于表示陡峭升级或急剧下降的类别的地平线内的每个段，所述方法包括：基于所述段的进入速度vi计算所述段结束之后的所述车辆的最终速度， ; 以及基于所计算的所述段的最终速度值确定所述段的进入速度vi，所述确定由所述段的类别的规则定义，使得车辆的最终速度值在由vmax和vmin定义的范围内，用于车辆的假定Vi在相同范围内确定，当前参考速度vset; 并根据速度设定点值vref根据每个段的进入速度vi来调节车辆的速度。

3. 发明申请

WO2010144026A1 METHOD AND MODULE FOR DETERMINING OF REFERENCE VALUES FOR A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：用于确定车辆控制系统参考值的方法和模块
公开(公告)号：WO2010144026A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050589
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
IPC分类号： B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W30/143 , B60W10/06 , B60W10/10 , B60W30/1882 , B60W40/06 , B60W2550/142 , B60W2550/143 , B60W2550/402 , Y02T10/56 , Y02T10/84
摘要： The present invention relates to a method for determining set-point values for a vehicle's control systems. The method comprises the steps of: determining a horizon by means of position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; calculating threshold values for said at least one characteristic of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing said at least one characteristic of each segment with the calculated threshold values and placing each segment within the horizon in a category according to the results of the comparisons; calculating set-point values for the vehicle's control systems across the horizon according to rules pertaining to the categories in which segments within the horizon are placed; regulating the vehicle according to the set-point values. The invention comprises also a module adapted to determining set-point values for a control system in the vehicle.
摘要翻译：本发明涉及一种用于确定车辆控制系统的设定值的方法。该方法包括以下步骤：通过位置数据和由具有每个段的至少一个特征的路线段构成的行程的地图数据来确定水平; 根据一个或多个车辆特定值计算段的所述至少一个特征的阈值，该阈值用作将段分配到各种类别的边界; 将每个段的所述至少一个特征与所计算的阈值进行比较，并且根据比较的结果将每个分段置于范围内的类别中; 根据与放置地平线内的分段的类别相关的规则，计算整个地平线上车辆控制系统的设定点值; 根据设定值调节车辆。本发明还包括适于确定车辆中的控制系统的设定点值的模块。

4. 发明申请

WO2010144030A1 METHOD AND MODULE FOR DETERMINING OF VELOCITY REFERENCE VALUES FOR A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：用于确定车辆控制系统的速度参考值的方法和模块
公开(公告)号：WO2010144030A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050593
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W10/10 , B60W10/06 , B60W30/143 , B60W40/06 , B60W2550/402 , B60W2720/10 , B60W2720/103 , Y02T10/52
摘要： The present invention relates to a method for determining speed set-point values v ref for a vehicle's control systems. The method comprises the steps of: determining a horizon by means of position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; calculating threshold values for said at least one characteristic of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing said at least one characteristic of each segment with the calculated threshold values and placing each segment within the horizon in a category according to the results of the comparisons; calculating set-point values for the vehicle's control systems across the horizon according to rules pertaining to the categories in which segments within the horizon are placed; and when any characteristic in segments within the horizon indicates a hindrance, the following steps are performed: - calculating the vehicle's retardation on the supposition that the brakes are not used according to said rules pertaining to the segment categories; - determining a start position within the horizon for commencement of retardation of the vehicle according to its calculated retardation in order to achieve a lowering of the set-point speed v ref to a maximum speed required by the hindrance at the location of the hindrance; adapting the speed set-point values v ref within the horizon according to said start position and retardation of the vehicle and regulating the vehicle's speed according to the speed set- values v ref . The invention comprises also a module adapted to determining set-point values for a control system in the vehicle.
摘要翻译：本发明涉及一种确定车辆控制系统的速度设定值vref的方法。该方法包括以下步骤：通过位置数据和由具有每个段的至少一个特征的路线段构成的行程的地图数据来确定水平; 根据一个或多个车辆特定值计算段的所述至少一个特征的阈值，该阈值用作将段分配到各种类别的边界; 将每个段的所述至少一个特征与所计算的阈值进行比较，并且根据比较的结果将每个分段置于范围内的类别中; 根据与放置地平线内的分段的类别相关的规则，计算整个地平线上车辆控制系统的设定点值; 并且当地平线段内的任何特征表示障碍时，执行以下步骤： - 根据与段类别有关的规则，假定不使用制动器来计算车辆的延迟; - 根据其计算的延迟来确定在地平线内的开始位置以开始车辆的延迟，以便将设定点速度vref降低到在障碍位置处的障碍所需的最大速度; 根据所述起始位置和所述车辆的延迟，根据所述速度设定值vref来调整所述车速的速度设定值vref。本发明还包括适于确定车辆中的控制系统的设定点值的模块。

5. 发明申请

WO2010144029A1 MODULE IN A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：车辆控制系统中的模块
公开(公告)号：WO2010144029A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050592
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik , SWARTLING, Fredrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik , SWARTLING, Fredrik
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , F16H59/14 , G01C21/32
CPC分类号： B60W30/143 , B60W10/06 , B60W10/10 , B60W50/0097 , B60W2550/142 , B60W2550/143 , B60W2550/402 , B60W2720/10 , B60W2720/103 , F16H59/66 , F16H61/0213 , F16H2059/666 , F16H2061/0216 , Y02T10/52
摘要： A module for determining speed set-point values v ref for a vehicle's control systems, comprising an input unit adapted to input, e.g. by the vehicle's driver, of a reference speed v set which is the speed desired by the driver for the vehicle. The module comprises - a horizon unit adapted to determining a horizon by means of received position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; - a processor unit adapted to calculating v ref across the horizon according to rules pertaining to categories in which segments within the horizon are placed, so that v ref is within a range bounded by v min and v max , where v min ≤ v set ≤ v max . The processor unit is further adapted to determining a control signal with control parameters for the vehicle's automatic gear change control unit, based on one or more vehicle-specific values and a calculated speed set-point value v ref .
摘要翻译：一种用于确定车辆控制系统的速度设定值vref的模块，包括适于输入例如车辆的车辆控制系统的输入单元。由车辆的驾驶员提供参考速度vset，其是驾驶员对车辆所期望的速度。该模块包括 - 水平单元，其适于通过接收的位置数据和由具有每个段的至少一个特征的路线段构成的行程的地图数据来确定水平; - 处理器单元，其适于根据与所述水平线内的段相关的类别的规则来计算横跨水平线的vref，使得v ref在由vmin和vmax限定的范围内，其中vmin = vset = vmax。处理器单元还适于基于一个或多个车辆特定值和计算的速度设定点值vref来确定具有用于车辆的自动变速控制单元的控制参数的控制信号。

6. 发明申请

WO2011126430A1 A MODULE AND A METHOD PERTAINING TO MODE CHOICE WHEN DETERMINING VEHICLE SPEED SET-POINT VALUES 审中-公开
标题翻译：确定车辆速度设定值的模式和方法选择
公开(公告)号：WO2011126430A1
公开(公告)日：2011-10-13
申请号：PCT/SE2011/050362
申请日：2011-03-30
申请人： Scania CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , SÖDERGREN, Maria , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , SÖDERGREN, Maria , PETTERSSON, Henrik
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , B60W50/08 , G01C21/32
CPC分类号： B60W10/06 , B60W10/10 , B60W30/143 , B60W50/0097 , B60W50/082 , B60W2550/143 , B60W2720/103
摘要： Module and method for determining speed set-point values v ref for a vehicle's control system, which module comprises a mode choice unit for setting of a driving mode, chosen for example by the vehicle's driver from among at least two selectable driving modes each comprising a unique set of settings which affect the calculation of v ref ; a horizon unit adapted to determining a horizon by means of location data received and map data for an itinerary made up of route segments and at least one characteristic for each segment; and a processor unit adapted to calculating v ref for the vehicle's control system along the horizon on the basis of settings for chosen driving modes and rules pertaining to categories in which segments within the horizon have been placed, so that v ref is within a range bounded by V min and v max , which control system regulates the vehicle according to these set-point values.
摘要翻译：用于确定车辆控制系统的速度设定值vref的模块和方法，该模块包括用于设置驾驶模式的模式选择单元，例如由车辆驾驶员从至少两个可选驾驶模式中选择，所述至少两个可选驾驶模式包括唯一一组影响vref计算的设置; 水平单元，其适于通过接收到的位置数据确定水平线，并且对于由路线段构成的行程和每个段的至少一个特征来映射数据; 以及处理器单元，其适于基于所选择的驱动模式的设置和与所述水平线内的段相关的类别的规则来计算沿着地平线的车辆控制系统的vref，使得v ref在由Vmin限定的范围内和vmax，该控制系统根据这些设定点值来调节车辆。

7. 发明申请

WO2011025443A1 SYSTEM AND METHOD FOR MAINTAINING DRIVING TIMES 审中-公开
标题翻译：维护时间的系统和方法
公开(公告)号：WO2011025443A1
公开(公告)日：2011-03-03
申请号：PCT/SE2010/050903
申请日：2010-08-23
申请人： Scania CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
IPC分类号： B60W30/14 , B60K31/00 , G05B13/04
CPC分类号： B60W30/16 , B60K2350/1092 , B60W30/143 , B60W2550/402 , B60W2720/103 , B60Y2200/14
摘要： The invention refers to a system and a method for maintaining driving times with an adaptive cruise control comprising a cruise control regulator in a motor vehicle whose control system is regulated by the cruise control regulator. The system for maintaining driving times comprises: an input unit for indicating desired speed values v set for the adaptive cruise control; a computing unit adapted to identify a section S j of a driven run S during which the driving time is to be determined; to calculate the time t cc it would have taken to drive the section S j when using a conventional non-adaptive cruise control; to determine the time t adapt actually taken to drive the section S i with the adaptive cruise control; to calculate the time difference between t cc and tadapt ,' and to calculate an adjusted control signal v setkorr to be used as control signal to the cruise control regulator so that said time difference disappears as the vehicle continues its journey; v setkorr being used as control signal to the adaptive system's cruise control regulator.
摘要翻译：本发明涉及一种利用自适应巡航控制来维持驾驶时间的系统和方法，其包括在机动车辆中的巡航控制调节器，其控制系统由巡航控制调节器调节。用于维持驾驶时间的系统包括：用于指示为自适应巡航控制设定的期望速度值v的输入单元; 计算单元，其适于识别要确定所述行驶时间的驱动行程S的区段Sj; 计算使用传统的非自适应巡航控制时驱动部分Sj所需的时间t cc; 确定实际采用的时间t，以利用自适应巡航控制来驱动部分S i; 以计算t cc和tadapt之间的时差，并计算调整后的控制信号v setkorr作为巡航控制调节器的控制信号，使得所述时差随着车辆继续行驶而消失; v setkorr被用作自适应系统巡航控制调节器的控制信号。

8. 发明申请

WO2010144027A1 MODULE FOR DETERMINING OF REFERENCE VALUES FOR A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：用于确定车辆控制系统参考值的模块
公开(公告)号：WO2010144027A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050590
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
发明人： JOHANSSON, Oskar , HANSSON, Jörgen , PETTERSSON, Henrik
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W30/143 , B60W30/16 , B60W40/06 , B60W50/0097 , B60W2550/142 , B60W2550/143 , B60W2550/302 , B60W2550/308 , B60W2550/402 , B60W2720/103 , Y02T10/56 , Y02T10/84
摘要： A module for determination of speed set-point values v ref for a vehicle's control systems, comprising an input unit adapted to input, e.g. by the vehicle's driver, of a reference speed v set which is the speed desired by the driver for the vehicle. The module comprises - a horizon unit adapted to determining a horizon by means of received position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; - a processor unit adapted to calculating v ref for the vehicle's control systems across the horizon according to rules pertaining to categories in which segments within the horizon are placed, so that v ref is within a range bounded by v min and v max , where v min ≤ v set ≤ V max; which control system regulates the vehicle according to these set-point values.
摘要翻译：一种用于确定车辆控制系统的速度设定值vref的模块，包括适于输入的车辆控制系统的输入单元。由车辆的驾驶员提供参考速度vset，其是驾驶员对车辆所期望的速度。该模块包括 - 水平单元，其适于通过接收的位置数据和由具有每个段的至少一个特征的路线段构成的行程的地图数据来确定水平; - 处理器单元，其适于根据与放置在水平线内的段的类别相关的规则来计算车辆在整个地平线上的控制系统的vref，使得v ref在由vmin和vmax限定的范围内，其中vmin = vset = Vmax ; 该控制系统根据这些设定点值调节车辆。

9. 发明申请

WO2010144031A1 METHOD AND MODULE FOR DETERMINING OF VELOCITY REFERENCE VALUES FOR A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：用于确定车辆控制系统的速度参考值的方法和模块
公开(公告)号：WO2010144031A1
公开(公告)日：2010-12-16
申请号：PCT/SE2010/050594
申请日：2010-05-31
申请人： SCANIA CV AB , JOHANSSON, Oskar , HANSSON, Jörgen
发明人： JOHANSSON, Oskar , HANSSON, Jörgen
IPC分类号： B60K31/00 , B60W30/14 , B60W40/06 , G01C21/32
CPC分类号： B60W10/06 , B60W10/10 , B60W30/143 , B60W40/06 , B60W2520/403 , B60W2550/402 , B60W2720/10 , B60W2720/103 , Y02T10/52
摘要： The invention relates to a method for determination of speed set-point values v ref for a vehicle's control systems, which comprises: determining a horizon by means of position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment; calculating threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons; calculating speed set-point values v ref for the vehicle's control systems across the horizon according to rules pertaining to the classes in which segments within the horizon are placed; adding an offset v offset to the calculated speed set-point values v ref when the vehicle is in a segment which is in a category indicating a steep upgrade or a steep downgrade; thereafter the vehicle is regulated according to the speed set-point values v ref . The invention comprises also a module for determination of speed set-point values for a vehicle's control systems.
摘要翻译：本发明涉及一种用于确定车辆控制系统的速度设定值vref的方法，其包括：通过位置数据和由具有每个的长度和梯度特性的路线段组成的行程的地图数据确定地平线分割; 根据一个或多个车辆特定值计算段的梯度的阈值，该阈值用作将段分配到各种类别的边界; 将每个段的梯度与阈值进行比较，并根据比较结果将每个段落放置在范围内的类别中; 根据与放置地平线内的段的类别相关的规则，计算车辆的控制系统在地平线上的速度设定值vref; 当车辆处于表示陡峭升级或陡峭降级的类别的段中时，将偏移voffset添加到所计算的速度设定值vref; 之后根据速度设定值vref调节车辆。本发明还包括用于确定车辆控制系统的速度设定值的模块。

10. 发明申请

WO2013095234A1 METHOD AND MODULE FOR DETERMINING OF AT LEAST ONE REFERENCE VALUE FOR A VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：用于确定车辆控制系统的至少一个参考值的方法和模块
公开(公告)号：WO2013095234A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051569
申请日：2011-12-22
申请人： SCANIA CV AB , JOHANSSON, Oskar , SÖDERGREN, Maria , ROOS, Fredrik
发明人： JOHANSSON, Oskar , SÖDERGREN, Maria , ROOS, Fredrik
IPC分类号： B60K31/00 , B60W30/14 , G05B13/04
CPC分类号： B60W30/143 , B60K31/00 , B60K31/0066 , B60K2310/242 , B60W10/06 , B60W10/11 , B60W50/0097 , B60W2540/04 , B60W2550/143 , B60W2550/308 , B60W2550/402 , B60W2720/10 , Y02T10/84
摘要： The invention relates to a method for determining a reference value for a control system of a vehicle which comprises: - determining a set speed for the vehicle; - determining a horizon for the intended itinerary which is made up of route segments; - effecting the following during each of a number of simulation cycles S j each comprising a number N of simulation steps conducted at a predetermined frequency f : - making a first prediction of the vehicle's speed v pred_cc along the horizon with a conventional cruise control; - comparing in a first comparison the predicted vehicle speed v pred_cc with V|im1 and V|im2, which are used to define a motor torque T to be used in a subsequent simulation cycle s j+1 ; - making a second prediction of the vehicles speed v pred_Tnew along the horizon when the vehicle's engine torque T is a value which depends on the result of said comparison in the latest preceding simulation cycle S j-1 - comparing in a second comparison the predicted vehicle speed v pred_Tnew With v min , and V max1 which demarcate a range within which the vehicle's speed is intended to be - determining a reference value on the basis of at least one of said second comparison and the second predicted vehicle speed v pred_Tnew in that simulation cycle S j and; - controlling the vehicle according to said reference value.
摘要翻译：本发明涉及一种用于确定车辆的控制系统的参考值的方法，该方法包括： - 确定车辆的设定速度; - 确定由路线段组成的预期行程的地平线; - 在多个模拟循环Sj中的每一个期间执行以下操作，每个模拟循环包括以预定频率f进行的N个模拟步骤： - 利用常规巡航控制对沿着地平线的车辆速度vpred_cc进行第一预测; - 将第一比较中的预测车辆速度vpred_cc与V | im1和V | im2进行比较，用于定义在随后的模拟周期sj + 1中使用的电动机转矩T; - 当车辆的发动机扭矩T是取决于最新的前述模拟循环Sj-1中的所述比较的结果的值时，对沿着地平线的车辆速度vpred_Tnew进行第二预测 - 在第二比较中比较预测车速vpred_Tnew 使用vmin和Vmax1，其界定车辆的速度所在的范围 - 在该模拟周期Sj中基于所述第二比较和第二预测车速vpred_Tnew中的至少一个来确定参考值; - 根据所述参考值控制车辆。

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