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1. 发明申请

WO2012115579A1 METHOD AND SYSTEM FOR CONTROL OF CRUISE CONTROL 审中-公开
标题翻译：巡航控制控制方法与系统
公开(公告)号：WO2012115579A1
公开(公告)日：2012-08-30
申请号：PCT/SE2012/050185
申请日：2012-02-21
申请人： SCANIA CV AB , STAAF, Magnus , JOHANSSON, Oskar , BREDBERG, Linus
发明人： STAAF, Magnus , JOHANSSON, Oskar , BREDBERG, Linus
IPC分类号： B60W30/16 , B60K31/00 , B60W30/14 , B60W30/18 , B60W50/10 , G01S13/93
CPC分类号： B60W30/18163 , B60K31/042 , B60W30/143 , B60W30/17 , B60W50/0097 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2540/04 , B60W2540/12 , B60W2540/18 , B60W2540/30 , B60W2550/143 , B60W2550/146 , B60W2550/147 , B60W2550/402 , B60W2720/10 , G01S13/931 , G01S2013/9321 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357
摘要： The present invention relates to a method and a system for control of a cruise control, which cruise control supplies a reference speed v ref for control of a propulsion system. The reference speed v ref is here based on a set speed v set chosen by a driver of a vehicle which is provided with the propulsion system, and it is possible for said cruise control to allow deviation between the reference speed v ref and the set speed v set . The present invention detects whether there is at least one particular driving situation, this detection being based on how the driver acts when the vehicle is in motion. If there is at least one particular driving situation, a first limitation of the permissible deviation is applied during the at least one particular driving situation. According to the invention, a second limitation of the permissible deviation is also applied during a period of time T A after the end of the at least one particular driving situation.
摘要翻译：本发明涉及一种用于控制巡航控制的方法和系统，巡航控制提供用于控制推进系统的参考速度v ref。这里基于由设置有推进系统的车辆的驾驶员选择的设定速度v set，并且可以使所述巡航控制允许参考速度v ref和设定速度之间的偏差 v集。本发明检测是否存在至少一个特定的驾驶状况，该检测是基于驾驶员在车辆行驶时的作用。如果存在至少一个特定驾驶状况，则在该至少一个特定驾驶状况期间应用允许偏差的第一限制。根据本发明，在所述至少一个特定驾驶状态结束之后的时间段T A期间也应用所述允许偏差的第二限制。

2. 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。

3. 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。

4. 发明申请

WO2013095238A1 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：WO2013095238A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051577
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： B60W30/14 , B60K31/00 , G05B13/04
CPC分类号： B60K31/00 , B60K2310/244 , B60W2550/402 , G05B13/026 , G05B13/048 , Y02T10/84
摘要： The invention relates to a method for determination of at least one reference value which indicates how a vehicle's speed is to be influenced and which can be used to control at least one control system in a vehicle. The invention is characterised by performing the steps of: - making a first prediction V pred -Tnew-ret and a second prediction V pred -Tnew-ret _ 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 V pred -Tnew-ret and second prediction V pred -Tnew-ret _ acc of the vehicle speed with a lower limit value V min and/or an upper limit value V max 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 V pred -Tnew-ret and second prediction vpred Tnew acc of the vehicle speed along the horizon so that said set speed vs et is within said range bounded by the lower and upper limit values V min andV max.
摘要翻译：本发明涉及一种用于确定至少一个参考值的方法，该参考值指示车辆的速度如何受到影响，并且可用于控制车辆中的至少一个控制系统。本发明的特征在于执行以下步骤： - 沿着水平线进行车速的第一预测Vpred-Tnew-ret和第二预测Vpred -Tnew-ret_acc，所述第一预测基于使车辆延迟的发动机扭矩Tret 与常规巡航控制相比，并且基于与常规巡航控制相比加速车辆的发动机扭矩Tacc的所述第二预测; - 将车速的所述各自的第一预测Vpred-Tnew-ret和第二预测Vpred -Tnew-ret_acc与划定车辆速度的范围的下限值Vmin和/或上限值Vmax进行比较; 以及 - 基于所述相应比较和所述第一预测Vpred-Tnew-ret和第二预测vpred Tnew中的至少一个来确定沿着水平线的车辆速度的至少一个参考值，使得所述设定速度vset在所述范围内通过下限值Vmin和上限值Vmax。

5. 发明申请

WO2013012377A1 MANAGING ERRORS IN GEOGRAPHICAL DATA 审中-公开
标题翻译：管理地理数据中的错误
公开(公告)号：WO2013012377A1
公开(公告)日：2013-01-24
申请号：PCT/SE2012/050754
申请日：2012-07-02
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： G01C21/32 , B60R16/023 , B60W40/076
CPC分类号： G01C21/20 , G01C21/32 , G09B29/006 , G09B29/106
摘要： The present invention relates to a system for handling of errors in map data D map . According to the invention information I related to map data D map is determined by a determination unit. An identification unit then makes an identification of at least one error in said map data D map on the basis of said information I determined. Thereafter a storage unit stores data D related to said at least one error identified in map data D map . A providing unit can then at least partly disregard said map data D map comprising said at least one identified error, when supplying map data D map , so that said stored data D may instead be used in decision making. The risk of decisions being taken on the basis of erroneous map data D map may thus be minimised.
摘要翻译：本发明涉及用于处理地图数据D图中的错误的系统。根据本发明，与地图数据相关的信息D映射由确定单元确定。然后，识别单元基于所确定的所述信息，对所述地图数据D映射中的至少一个错误进行识别。此后，存储单元存储与在地图数据D映射中识别的所述至少一个错误相关的数据D. 然后，当提供地图数据D map时，提供单元可以至少部分地忽略包括所述至少一个识别的错误的所述地图数据D map，使得所述存储的数据D可以替代地用于决策。因此，可以将基于错误地图数据D图的决定的风险最小化。

6. 发明申请

WO2012008913A2 CREATION OF COST FUNCTION 审中-公开
标题翻译：成本函数的创建
公开(公告)号：WO2012008913A2
公开(公告)日：2012-01-19
申请号：PCT/SE2011/050950
申请日：2011-07-14
申请人： SCANIA CV AB , EVALDSSON, Martin , SÖDERGREN, Maria , JOHANSSON, Oskar
发明人： EVALDSSON, Martin , SÖDERGREN, Maria , JOHANSSON, Oskar
CPC分类号： G06F17/00 , B60W30/14 , B60W2540/30 , B60W2550/402
摘要： According to the present invention, a cost function is created such that it depends on at least a first term and a second term which have a mutual relationship between them. The cost function is also so configured that it is easy to expand to cover one or more further terms. According to the invention, the cost function is created such that when it is expanded to depend on the first term, the second term and at least one further term it still maintains the same mutual relationship between the first term and the second term. The cost function also indicates a mutual relationship between the at least one further term and the first and second terms.
摘要翻译：根据本发明，创建成本函数，使得它至少依赖于它们之间具有相互关系的第一项和第二项。成本函数也被配置为容易扩展以涵盖一个或多个其它术语。根据本发明，创建成本函数，使得当它被扩展到依赖于第一项时，第二项和至少一个其它项仍然保持第一项和第二项之间相同的相互关系。成本函数还表示至少一个术语与第一和第二项之间的相互关系。

7. 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。

8. 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。

9. 发明申请

WO2013095242A1 METHOD AND MODULE FOR DETERMINING OF AT LEAST ONE REFERENCE VALUE 审中-公开
标题翻译：用于确定至少一个参考值的方法和模块
公开(公告)号：WO2013095242A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051585
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 , B60W50/08 , G05B13/04
CPC分类号： B60W30/143 , B60K31/00 , B60K2310/242 , B60W10/06 , B60W10/11 , B60W50/0097 , B60W50/06 , B60W2540/04 , B60W2550/142 , B60W2550/143 , B60W2550/402 , B60W2720/10 , B60W2720/103 , Y02T10/84
摘要： The invention relates to a method for determination of at least one reference value which indicates how a vehicle's speed is to be influenced and which can be used to control at least one control system in a vehicle. The invention is characterised by performing the steps of: - making a first prediction v pred_ Tnew_ret and a second prediction v pred_ Tnew_acc of a vehicle speed along a horizon, said first prediction based on an engine torque T ret which retards the vehicle as compared with a conventional cruise control, and said second prediction based on an engine torque T acc which accelerates the vehicle as compared with a conventional cruise control; - comparing said respective first prediction v pred_ Tnew_ ret and second prediction v pred_ Tnew_ acc of the vehicle speed with a lower limit value v min and/or an upper limit value v max which delineate a range within which the vehicle's speed should be, with an offset v 0ffset added to said lower and/or upper limit values v min and v max if the vehicle is in a route segment which comprises a steep hill; and - determining at least one reference value based on at least one of said respective comparisons and said first prediction v pred_ Tnew_ ret and second prediction v pred_ Tnew_ acc of the vehicle speed along the horizon.
摘要翻译：本发明涉及一种用于确定至少一个参考值的方法，该参考值指示车辆的速度如何受到影响，并且可用于控制车辆中的至少一个控制系统。本发明的特征在于执行以下步骤： - 沿着水平线进行车速的第一预测vpred_Tnew_ret和第二预测vpred_Tnew_acc，所述第一预测基于与常规巡航相比较的延迟车辆的发动机扭矩Tret 基于与常规巡航控制相比加速车辆的发动机扭矩Tacc的控制和所述第二预测; - 将车速的所述各自的第一预测vpred_Tnew_thth和第二预测vpred_Tnew_ acc与添加了偏移量v0ffset的下限值vmin和/或描述车辆速度应该在哪一范围内的上限值vmax进行比较到所述下限和/或上限值vmin和vmax，如果所述车辆处于包括陡坡的路线段中; 以及 - 基于所述相应比较中的至少一个和沿着所述地平线的所述车辆速度的所述第一预测vpred_Tnew_ ret和第二预测vpred_Tnew_ acc中的至少一个来确定至少一个参考值。

10. 发明申请

WO2013095232A1 METHOD AND MODULE FOR CONTROLLING A VEHICLE'S SPEED BASED ON RULES AND/OR COSTS 审中-公开
标题翻译：基于规则和/或成本控制车辆速度的方法和模块
公开(公告)号：WO2013095232A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051567
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： B60W30/14 , B60K31/00 , B60W50/08 , G05B13/04
CPC分类号： B60W30/143 , B60K2310/244 , B60W50/0097 , B60W2710/0666 , B60W2720/10 , Y02T10/52 , Y02T10/84
摘要： The invention relates to a method for determination of at least one reference value which indicates how a vehicle's speed is to be influenced and which may be used to control at least one control system in a vehicle. The invention is characterised by performing the steps of: - making a first prediction v pred _Tnew _ret and a second prediction v pred _Tnew _acc of a vehicle speed along a horizon, said first prediction based on an engine torque T ret which retards the vehicle as compared with a conventional cruise control, and said second prediction based on an engine torque T acc which accelerates the vehicle as compared with a conventional cruise control; - comparing said respective first prediction v pred _Tnew _ret and second prediction v pred_Tnew _acc of the vehicle speed with a lower limit value v min and/or an upper limit value v max 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 v pred _Tnew_ret and second prediction v pred_Tnew_acc of the vehicle speed along the horizon.
摘要翻译：本发明涉及一种用于确定至少一个参考值的方法，该参考值指示车辆的速度如何受到影响并且可用于控制车辆中的至少一个控制系统。本发明的特征在于执行以下步骤： - 沿着水平线进行车辆速度的第一预测vpred _Tnew _ret和第二预测vpred _Tnew _acc，所述第一预测基于与a相比较的延迟车辆的发动机扭矩Tret 传统的巡航控制，以及基于与常规巡航控制相比加速车辆的发动机扭矩Tacc的所述第二预测; - 将车速的所述各自的第一预测vpred _Tnew _ret和第二预测vpred_Tnew _acc与描绘车辆速度的范围的下限值vmin和/或上限值vmax进行比较; 以及 - 基于所述各个比较中的至少一个和沿着所述地平线的所述车辆速度的所述第一预测vpred _Tnew_ret和第二预测vpred_Tnew_acc中的至少一个来确定至少一个参考值。

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