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1. 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。

2. 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。

3. 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。

4. 发明申请

WO2013095233A1 MODULE AND METHOD PERTAINING TO MODE CHOICE WHEN DETERMINING REFERENCE VALUES 审中-公开
标题翻译：确定参考值时模式选择的模块和方法
公开(公告)号：WO2013095233A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051568
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 , B60W10/06 , B60W10/11 , B60W50/0097 , B60W50/08 , B60W2540/04 , B60W2550/143 , B60W2550/402 , B60W2710/0666 , 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; - making a choice of mode by selecting one mode from at least two different driving modes; - 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 lim1 and v lim2 , 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 max , 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; - 通过从至少两种不同的驾驶模式中选择一种模式来选择模式; - 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vlim1和vlim2进行比较，用于定义在随后的模拟循环sj + 1中使用的电动机转矩T; - 当车辆的发动机扭矩T是取决于最新的先前模拟循环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 其中vmin和Vmax用于划分车辆速度的范围 - 基于该模拟循环sj中的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。

5. 发明申请

WO2012158098A1 DRIVER INTERACTION PERTAINING TO REFERENCE-SPEED-REGULATING CRUISE CONTROL 审中-公开
标题翻译：参考速度调节巡航控制的驾驶员交互
公开(公告)号：WO2012158098A1
公开(公告)日：2012-11-22
申请号：PCT/SE2012/050489
申请日：2012-05-09
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 , B60W30/16 , B60W50/08
CPC分类号： B60K31/00 , B60K2310/244 , B60W30/143 , B60W2520/10 , B60W2550/143 , B60W2550/402
摘要： The present invention relates to a method for a reference-speed-regulating cruise control and to a reference-speed-regulating cruise control which demands from an engine system a reference speed v ref which may differ from a chosen set speed v set . According to the invention,adjustment of at least said set speed v set is allowed if said reference speed v ref differs from said set speed v set , which adjustment is based at least partly on a current speed v pres of said vehicle and on input from a user of said reference-speed-regulating cruise control. Quick and simple user-controlled adjustment of the set speed v set is thus achieved.
摘要翻译：本发明涉及一种用于参考速度调节巡航控制和参考速度调节巡航控制的方法，其对来自发动机系统的参考速度v ref（其可能不同于所选择的设定速度v设定）。根据本发明，如果所述参考速度v ref与所述设定速度v set不同，那么至少所述设定速度v set的调整是允许的，该调整至少部分地基于所述车辆的当前速度v pres并且基于来自所述参考速度调节巡航控制的用户。因此实现了设定速度v set的用户控制的快速简单的调整。

6. 发明申请

WO2012158097A1 DRIVER INTERACTION PERTAINING TO ECONOMICAL CRUISE CONTROL 审中-公开
标题翻译：经济巡航控制的驾驶互动
公开(公告)号：WO2012158097A1
公开(公告)日：2012-11-22
申请号：PCT/SE2012/050488
申请日：2012-05-09
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
CPC分类号： B60K31/00 , B60K2310/244 , B60W30/143 , B60W2550/143 , B60W2550/402
摘要： The present invention relates to a method for an economical cruise control and to an economical cruise control which demands from an engine system a reference speed v ref which may differ from a chosen set speed v set . According to the invention, adjustment of at least said set speed v set is allowed when said reference speed v ref differs from said set speed v set . The adjustment is based at least partly on input from a user of said economical cruise control. A user of the economical cruise control is thus provided with an increased feeling of control over the vehicle's speed.
摘要翻译：本发明涉及一种用于经济巡航控制和经济巡航控制的方法，其需要来自发动机系统的参考速度vref，其可以与所选择的设定速度vset不同。根据本发明，当所述参考速度vref与所述设定速度vset不同时，允许至少所述设定速度vset的调节。该调整至少部分地基于来自所述经济巡航控制的用户的输入。因此，经济巡航控制的使用者对车辆速度的控制感增加。

7. 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。

8. 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。

9. 发明申请

WO2013012378A1 GRAPHICAL USER INTERFACE 审中-公开
标题翻译：图形用户界面
公开(公告)号：WO2013012378A1
公开(公告)日：2013-01-24
申请号：PCT/SE2012/050756
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 , G01C21/36
CPC分类号： G06F3/0484 , B60K35/00 , B60K2350/1076 , B60W2550/402 , G01C21/32 , G01C21/3697 , G09B29/004
摘要： The present invention relates to a system comprising a user interface which is adapted to presenting map data D map . According to the invention, an analysis unit does an analysis of map data D map , involving determining a quality Q for these map data D map which are to be presented, which determination is based on whether the respective map data D map are available and/or reliable. Thereafter the quality Q arrived at is presented graphically by a presentation unit. This makes it easy for a user of the invention to be informed of the quality Q of map data D map which are presented. This makes it possible for the risk of wrong decisions being taken on the basis of deficient map data D map to be reduced considerably, since the user can easily decide whether there are reliable map data or not.
摘要翻译：本发明涉及一种包括适于呈现地图数据Dmap的用户界面的系统。根据本发明，分析单元对地图数据Dmap进行分析，包括确定要呈现的这些地图数据Dmap的质量Q，哪个确定是基于各个地图数据Dmap是否可用和可靠。此后，到达的质量Q由呈现单元以图形方式呈现。这使得本发明的用户能够容易地了解所呈现的地图数据Dmap的质量Q。这使得由于用户可以容易地确定是否存在可靠的地图数据，因此可以基于不足的地图数据Dmap来大大降低错误的决策风险。

10. 发明申请

WO2013095239A1 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：WO2013095239A1
公开(公告)日：2013-06-27
申请号：PCT/SE2011/051578
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 speed set-values v ref for a vehicle's control system, comprising the steps of: - acquiring a set speed v set for the vehicle; - determining a horizon for the itinerary by means of map data and location data, which horizon comprises one or more route segments with at least one characteristic for each segment; - performing, during each of a number of simulation cycles S j each comprising a number N of simulation steps conducted at a predetermined rate f, the steps of: - making a first prediction of the vehicle's speed v pred_cc along the horizon according to a conventional cruise control when the set speed v set is imparted as a reference speed v ref, which first prediction depends on the characteristics of said route segment; - doing a first comparison of the first predicted vehicle speed v pred_cc with at least one of first lower and upper limit values v lim1 and V lim2 which are used to define an engine torque T for use in the next simulation cycle s j+1 ; - making a second prediction of the vehicle's speed v pred_Tnew along the horizon when the vehicle's engine torque T is a value which depends on the result of said first comparison in the immediately preceding simulation cycle S j+1 ; - doing a second comparison of the second predicted vehicle speed v pred Tnew with at least one of second lower and upper limit values v min and v max which delineate a range within which the vehicle's speed should be, with an offset v offset added to at least one of said second lower and 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 along the horizon which indicates how the vehicle's speed is to be influenced, on the basis of said second comparison and/or the second predicted vehicle speed v pred_Tnew in this simulation cycle s j ; and - using in a control system of the vehicle said at least one reference value on which the vehicle is then regulated.
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，包括以下步骤： - 获取车辆的设定速度vset; - 通过地图数据和位置数据确定行程的地平线，该地平线包括一个或多个具有每段的至少一个特征的路线段; - 在每个包括以预定速率f进行的N次模拟步骤的多个模拟循环Sj中的每一个中执行以下步骤： - 根据常规巡航控制对沿着地平线的车辆速度vpred_cc进行第一预测当设定速度vset被赋予参考速度vref时，该第一预测取决于所述路线段的特性; - 对第一预测车辆速度vpred_cc和第一下限值Vliml和上限值Vlim2中的至少一个进行第一比较，用于定义在下一个模拟循环sj + 1中使用的发动机扭矩T; - 当车辆的发动机扭矩T是取决于紧接在前的模拟循环Sj + 1中的所述第一比较的结果的值时，沿着地平线对车辆速度vpred_Tnew进行第二预测; - 将第二预测车辆速度Vpred Tnew与第二下限值和上限值vmin和vmax中的至少一个进行第二比较，vmin和vmax描绘车辆速度应当在哪个范围内，偏移voffset被添加到所述第二下限和上限值vmin和vmax，如果车辆处于包括陡坡的路线段中; 以及 - 在该模拟周期sj中，基于所述第二比较和/或第二预测车速vpred_Tnew，确定沿水平线的至少一个参考值，其指示如何影响车辆的速度; 以及 - 在所述车辆的控制系统中使用所述车辆然后被调节的至少一个参考值。

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