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    • 7. 发明申请
    • A METHOD FOR CONTROLLING A VEHICLE
    • WO2021121583A1
    • 2021-06-24
    • PCT/EP2019/086038
    • 2019-12-18
    • VOLVO TRUCK CORPORATION
    • HELLGREN, Jonas
    • G01C21/34G01C21/3469
    • The invention relates to a method for controlling a vehicle (1) travelling along a route, the method comprising -obtaining a first value (wdr) of a balance parameter, indicative of a balance between a cost for operating the vehicle along at least a part of the route,and a time of arrival at a position along the route, -establishing, in dependence on the first balance parameter value (wdr),a plurality of desired position and time correlations (PTC) for the travel of the vehicle along at least a part of the route, -when the vehicle travels along the route, determining a progress deviation (PD) comprising a deviation, for a point in time, of an actual position of the vehicle from a desired position according to the desired position and time correlations, or a deviation, for a position of the vehicle, of an actual point in time from a desired point in time according to the desired position and time correlations, -when the vehicle travels along the route, obtaining a second balance parameter value (wstc1), different from the first balance parameter value (wdr), the second balance parameter value being dependent on the progress deviation (PD), and -controlling the vehicle in dependence on the second balance parameter value (wstc1).