SE1450602A1

SE1450602A1 - Procedure and system for adapting a vehicle's performance on a roadway in conjunction with cornering

Info

Publication number: SE1450602A1
Application number: SE1450602A
Authority: SE
Inventors: Jonny Andersson; Linus Bredberg
Original assignee: Scania Cv Ab
Priority date: 2014-05-21
Filing date: 2014-05-21
Publication date: 2015-11-22
Also published as: KR20170005077A; SE539778C2; WO2015178842A1; EP3145779A1; EP3145779A4; BR112016024882A2

Abstract

SAMMANDRAG Foreliggande uppfinning hanfor sig till ett forfarande for anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkorning, innefattande steget att faststalla (Si) upptradande av hastighetsbegransande foreteelser i form av kurvaturer utnned fordonets fardvag. Forfarandet innefattar vidare stegen att: faststalla (S2) en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen; och, fOr det fall radande fordonshastighet overstiger mai hastigheten, anpassa (S3) fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. Foreliggande uppfinning hanfOr sig ocksa till ett system fOr anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkorning. Foreliggande uppfinning hanfor sig ocksa till ett motorfordon. Foreliggande uppfinning hanfor sig ocksa till ett datorprogrann och en datorprogramprodukt. SUMMARY The present invention relates to a method for adapting the driving of a vehicle on a lane in connection with cornering, comprising the step of determining (Si) the occurrence of speed limiting phenomena in the form of curvatures along the vehicle's carriageway. The method further comprises the steps of: determining (S2) a velocity profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage; and, in case the radiating vehicle speed exceeds the speed, adjust (S3) the vehicle speed so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway. The present invention also relates to a system for adapting the driving of a vehicle on a lane in connection with cornering. The present invention also relates to a motor vehicle. The present invention also relates to a computer program and a computer program product.

Description

1 FORFARANDE OCH SYSTEM FOR ANPASSNING AV ETT FORDONS FRAMFORANDE PA EN VAGBANA I SAMBAND MED KURVKORNING TEKNISKT OMRADE Uppfinningen hanfor sig till ett forfarande f6r anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning enligt ingressen till patentkrav 1. Uppfinningen hanfor sig till ett system for anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning. Uppfinningen hanfor sig ocksa till ett nnotorfordon. Uppfinningen hanfor sig aven till ett datorprogram och en datorprogramprodukt. TECHNICAL FIELD The invention relates to a method for adapting a vehicle to driving on a lane in connection with cornering according to the preamble of the invention. for adapting the driving of a vehicle on a lane in connection with cornering. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer program product.

BAKGRUND Farthallare och liknande f6rarst6d blir alltmer intelligenta. Idag finns flertalet system pa marknaden som anvander sig av kartdata for att framfora fordonet pa ett bransleekonomiskt satt. Dessa system är dock anpassade till att enbart se till hur topografin ser ut, vilket i praktiken Or dessa till funktioner lampliga f6r bruk pa motorvag och motsvarande vagar. BACKGROUND Cruise control and similar driver assistance are becoming increasingly intelligent. Today, there are several systems on the market that use map data to drive the vehicle in an industry-economical way. However, these systems are adapted to only look at what the topography looks like, which in practice makes these suitable for use on motorways and corresponding roads.

Dagens system bygger helt och hallet pa en forarinstalld borvardeshastighet. De topologibaserade farthallarna tillats enbart avvika Than denna med ett visst antal procent eller km/h. Om fordonet i fraga skulle kora in pa en mindre vag med kurvor och hastighetsbegransningar är det lampligt att stanga av farthallaren eftersonn f6raren anda sjalv behover bromsa inf6r en eventuell kurva. Pa mindre vagar med manga kurvor är det dessutom svart for en forare att kora optinnalt ur ett bransleekonomiskt perspektiv. Detta eftersom det ofta är svart att se vad sonn hander bakonn den narnnaste kurvan. 2 EP2527222 visar forarassistans fOr styrning av hastigheten med hansyn till kurvdata, framtagna med navigationsdata eller omgivningssensor, dar hastigheten anpassas infOr en kurva till en position i kurvan. Today's system is based entirely on a driver-installed drilling speed. The topology-based speed bays are only allowed to deviate Than this by a certain number of percent or km / h. If the vehicle in question were to collide on a minor road with curves and speed limits, it is appropriate to switch off the cruise control as the driver himself needs to brake before a possible curve. On smaller roads with many curves, it is also difficult for a driver to drive optically from an industry economic perspective. This is because it is often black to see what the son is doing behind the narrowest curve. EP2527222 shows driver assistance for controlling the speed with regard to curve data, produced with navigation data or ambient sensor, where the speed is adjusted for a curve to a position in the curve.

SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkomma ett forfarande och ett system for anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning som mojliggor sakert och komfortmassigt frannforande. OBJECT OF THE INVENTION An object of the present invention is to provide a method and a system for adapting the driving of a vehicle on a lane in connection with cornering which enables safe and comfortable driving.

SAMMANFATTNING AV UPPFINNINGEN Dessa och andra syften, vilka framgar av nedanstbende beskrivning, astadkommes medelst ett forfarande, ett system, ett motorfordon, ett datorprogram och en datorprogramprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av bifogade sjalvstandiga patentkrav. Foredragna utforingsformer av forfarandet och systemet är definierade i bifogade osjalvstandiga patentkrav. SUMMARY OF THE INVENTION These and other objects, which will be apparent from the following description, are accomplished by a method, system, motor vehicle, computer program, and computer program product of the type initially indicated and further having the features set forth in the dependent subsection of the appended independent patent. Preferred embodiments of the method and system are defined in the appended dependent claims.

Enligt uppfinningen uppnas syftena med ett forfarande for anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkorning, innefattande steget att faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag, vidare innefattande stegen att: faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen; och, for det fall radande fordonshastigheten overstiger malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. Harigenom mojliggors sakert och komfortmassigt 3 framforande for en fOrtroendegivande upplevelse i det att malhastigheten uppnas en tid/stracka innan den i kurvan erfordrade malhastigheten. According to the invention, the objects are achieved with a method for adapting a vehicle's driving on a lane in connection with cornering, comprising the step of determining the occurrence of speed limiting phenomena in the form of curvatures along the vehicle's carriageway, further comprising the steps of: determining a speed profile based on radar and vehicle speed. comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage; and, in case the radiating vehicle speed exceeds the grinding speed, adjusting the vehicle speed so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's route. This makes it possible to perform safely and comfortably for a reassuring experience in that the grinding speed is reached a time / distance before the grinding speed required in the curve.

Enligt en utfOringsform innefattar forfarandet steget att, for det fall radande fordonshastigheten understiger eller motsvarar malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet. Harvid mojliggors effektivt frannforande av fordonet sá att korrekt malhastighet uppnas i kurvan. According to one embodiment, the method comprises the step of, in case the radiating vehicle speed is less than or corresponding to the grinding speed, adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed. This enables efficient removal of the vehicle so that the correct grinding speed is achieved in the curve.

Enligt en utforingsform innefattar forfarandet steget att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en foreskriven absolut framforhallning relativt det mot malhastigheten svarande avsnittet. Harigenom mOjliggOrs ett enkelt och effektiv satt att foreskriva avsnittet innan kurvaturens ingang. According to one embodiment, the method comprises the step of determining said prescribed sections before the entrance of the curvature along the vehicle's route based on a prescribed absolute advance relative to the section corresponding to the grinding speed. This makes it possible for a simple and efficient way to prescribe the section before the curvature enters.

Enligt en utforingsform innefattar forfarandet steget att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en retardation mot fran en radande fordonshastighet till namnda malhastighet. Harigenom mojliggors ett enkelt och effektiv satt att foreskriva avsnittet innan kurvaturens ingang. According to one embodiment, the method comprises the step of determining said prescribed sections before the entrance of the curvature along the vehicle pathway based on a deceleration towards from a radiating vehicle speed to said grinding speed. This makes it possible for a simple and efficient way to prescribe the section before the entrance of the curvature.

Enligt en utforingsform innefattar forfarandet steget att faststalla namnda fOreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation inf6r namnda kurvatur. Harigenom mOjliggOrs ett enkelt och effektiv satt att foreskriva avsnittet innan kurvaturens ingang. According to one embodiment, the method comprises the step of determining said prescribed sections before the entrance of the curvature along the vehicle's route based on a section of the speed profile corresponding to deceleration before said curvature. This makes it possible for a simple and efficient way to prescribe the section before the curvature enters.

Enligt en utfOringsform av fOrfarandet sails, fOr det fall avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en fOrutbestamd position innan det mot malhastigheten svarande avsnittet, ett tak pa motsvarande stracka och/eller tid innan kurvaturens ingang. Harigenom undviks att avsnittet innan kurvaturens ingang satts till en onodigt lang stracka innan kurvaturen. 4 Utforingsformerna for systemet uppvisar motsvarande fordelar som motsvarande utforingsformer for forfarandet namnda ovan. According to an embodiment of the method sails, in the event that a section of the velocity profile corresponding to deceleration within the said curvature is a predetermined position before the section corresponding to the grinding speed, a ceiling of the corresponding distance and / or time before the curvature enters. This avoids that the section before the curvature entrance is set to an unnecessarily long distance before the curvature. The embodiments of the system have the same advantages as the corresponding embodiments of the method mentioned above.

FIGURBESKRIVNING Foreliggande uppfinning kommer att forstas !Atte med hanvisning till foljande detaljerade beskrivning last tillsammans med de bifogade ritningarna, dar lika hanvisningsbeteckningar hanfor sig till lika delar genonngaende i de manga vyerna, och i vilka: Fig. 1 schematiskt illustrerar ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 2 schematiskt illustrerar ett system for anpassning av ett fordons framforande pa en vagbana i sannband med kurvkorning enligt en utf6ringsform av foreliggande uppfinning; Fig. 3a schematiskt illustrerar en kurvaturprofil i form av en rondell; Fig. 3b schematiskt illustrerar hastighetsprofiler for kurvaturprofilen i fig. 3a; Fig. 4 schematiskt illustrerar ett blockschema av ett forfarande for anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkOrning enligt en utfOringsform av fOreliggande uppfinning; och Fig. 5 schematiskt illustrerar en dator enligt en utforingsform av foreliggande 20 uppfinning. DESCRIPTION OF THE DRAWINGS The present invention will be understood by reference to the following detailed description, taken in conjunction with the accompanying drawings, in which like reference numerals appear in like manner throughout the many views, and in which: Fig. 1 schematically illustrates a motor vehicle according to an embodiment of present invention; Fig. 2 schematically illustrates a system for adapting the driving of a vehicle on a lane in true belt with cornering according to an embodiment of the present invention; Fig. 3a schematically illustrates a curvature profile in the form of a roundel; Fig. 3b schematically illustrates velocity profiles for the curvature profile in Fig. 3a; Fig. 4 schematically illustrates a block diagram of a method for adapting a vehicle driving on a lane in connection with cornering according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

BESKRIVNING AV UTFORINGSFORMER Hari hanfor sig ternnen "lank" till en kommunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en icke-fysisk ledning, sasom en tradlOs anslutning, till exempel en radio- eller mikrovagslank. DESCRIPTION OF EMBODIMENTS Hereinafter referred to as a "link" to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.

Hari hanfor sig termen "acceleration" till bade positiv och negativ acceleration, dvs. acceleration i form av okande hastighet och acceleration i form av minskande hastighet, dvs. retardation. Hari hanfor the term "acceleration" to both positive and negative acceleration, ie. acceleration in the form of increasing speed and acceleration in the form of decreasing speed, ie. retardation.

Hari hanfor sig termen "fortlopande faststalla" exempelvis vid bestamningen " fortlopande faststalla upptradande av hastighetsbegransande fOreteelser i form av kurvaturer utmed fordonets fardvag" till steglos faststallning eller stegad faststallning, dvs. dar faststallningen sker med en viss upprepad forekomst som kan vara regelbunden och kan vara tidsbaserad eller strackbaserad. Does he use the term "continuous determination", for example in the determination "continuous determination of the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway" to stepless determination or stepped determination, ie. where the determination takes place with a certain repeated occurrence which may be regular and may be time-based or stretch-based.

Fig. 1 illustrerar schematiskt ett motorfordon 1 enligt en utforingsform av foreliggande uppfinning. Det exemplifierade fordonet 1 utgors av ett tungt fordon i form av en lastbil. Fordonet kan alternativ utgoras av vilket som heist lampligt fordon sasom en buss eller en personbil. Fordonet inbegriper ett system I enligt foreliggande uppfinning. Fig. 1 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck. The vehicle can alternatively consist of any suitable vehicle such as a bus or a car. The vehicle comprises a system I according to the present invention.

Fig. 2 illustrerar schematiskt ett blockschema av ett system I for anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkorning enligt en utfOringsform av fOreliggande uppfinning. Fig. 2 schematically illustrates a block diagram of a system I for adapting the driving of a vehicle on a lane in connection with cornering according to an embodiment of the present invention.

Systemet I innefattar en elektronisk styrenhet 100. System I comprises an electronic control unit 100.

Systennet I innefattar nnedel 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag. The system I comprises part 110 for continuously determining the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway.

Medlet 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag inbegriper enligt en variant en kartinformationsenhet 112 innefattande kartdata inbegripande karaktaristika hos vagbanan utmed 6 fordonets fardvag inbegripande hastighetsbegransande foreteelser i form av kurvaturer. The means 110 for continuously determining the occurrence of speed limiting phenomena in the form of curvatures along the vehicle lane includes, according to a variant, a map information unit 112 comprising map data including characteristics of the lane along the vehicle lane including speed limiting phenomena in the form of curvature.

Medlet 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag inbegriper enligt en variant medel 114 fOr att bestamma fordonets position. Medlet 114 for att bestamma fordonets position innefattar ett geografiskt lagesbestamningssystem fOr att fortlOpande bestamma fordonets position utmed fardvagen. Exempel pa geografiskt lagesbestamningssystem kan vara GPS. The means 110 for continuously determining the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway comprises, according to a variant, means 114 for determining the position of the vehicle. The means 114 for determining the position of the vehicle comprises a geographical location determination system for continuously determining the position of the vehicle along the carriage. An example of a geographical layer determination system can be GPS.

Kartinformationsenheten 112 och medlet 114 for att bestamma fordonets position innefattas enligt en variant av medel 110a fOr att bestamma fordonets fardvag, dar medlet f6r att bestamma fordonets fardvag är anordnat att tillhandahalla fOrutbestamda karaktaristika hos vagbanan utmed fordonets fardvag inbegripande hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag. Namnda kartdata hos kartinformrationsenheten 112 inbegriper aven karaktaristika hos vagbanan utmed fordonets fardvag inbegripande topografi. The map information unit 112 and the means 114 for determining the position of the vehicle are included according to a variant of means 110a for determining the vehicle's carriageway, wherein the means for determining the vehicle's carriageway is arranged to provide predetermined characteristics of the carriageway along the vehicle's carriageway including speed limiting vehicles. fardvag. Said map data of the map information unit 112 also includes characteristics of the lane along the vehicle's lane including topography.

Genom kartinformationsenheten 112 och medlet 114 for att bestamma fordonets position mojliggors foljaktligen att fortlopande identifiera fordonets 20 position saint karaktaristika has vagbanan inbegripande hastighetsbegransande foreteelser i form av kurvaturer. Consequently, through the map information unit 112 and the means 114 for determining the position of the vehicle, it is possible to continuously identify the position saint characteristics of the vehicle 20, the lane including speed limiting phenomena in the form of curvatures.

Medlet 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser utmed fordonets fardvag inbegriper enligt en variant kameraorgan 116. Kameraorganet 116 är anordnat att detektera karaktaristika hos vagbanan inbegripande hastighetsbegransande foreteelser i form av kurvaturer. Kameraorganet 116 är anordnat att detektera formen hos vagbanans utbredning inbegripande krokning hos vagbanan och/eller vagmarkeringar f6r att salunda faststalla krokning hos vagbanan utmed 7 vilken fordonet fardas. Kameraorganet kan inbegripa en eller flera kameror for detekteringen. The means 110 for continuously determining the occurrence of speed limiting phenomena along the vehicle's carriageway comprises according to a variant camera means 116. The camera means 116 is arranged to detect characteristics of the carriageway including speed limiting phenomena in the form of curvatures. The camera means 116 is arranged to detect the shape of the carriageway extension, including hooking of the carriageway and / or carriage markings, so as to determine the hooking of the carriageway along which the vehicle is traveling. The camera means may include one or more cameras for detection.

Medlet 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag innefattar medel for att uffora namnda faststallande utifran en forutbestamd strack- och/eller tidshorisont framfor fordonet utmed fordonets fardvag. The means 110 for continuously determining the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway comprises means for performing said determining from a predetermined distance and / or time horizon in front of the vehicle along the vehicle's carriageway.

Enligt en utforingsform innefattar medlet 110 for att fortlopande faststalla upptradande av hastighetsbegransande foreteelser utmed fordonets fardvag medel f6r att utf6ra namnda faststallande utifran en forutbestamd strackhorisont framfor fordonet utmed fordonets fardvag, dar strackhorisonten utgor ett lampligt fonster i form av en stracka fran fordonets aktuella position och framat utmed fordonets fardvag. Strackhorisonten ligger enligt en utforingsform i storleksordningen nagra hundra meter, exempelvis omkring 500 meter. According to one embodiment, the means 110 for continuously determining the occurrence of speed limiting phenomena along the vehicle's vehicle comprises means for performing said determining from a predetermined track horizon in front of the vehicle along the vehicle's track, where the track horizon forms an appropriate front window in the vehicle. along the vehicle's carriageway. According to an embodiment, the stretch horizon is in the order of a few hundred meters, for example about 500 meters.

Strackhorisonten är enligt en variant beroende av fordonshastigheten. Strackhorisonten är enligt en variant beroende av komfortmassiga overvaganden,bransleekonomiskaovervagandensamt framforandeeffektivitetsmassiga overvaganden, dvs. hur tidseffektivt framforandet av fordonet är. Genom att satta strackhorisonten relativt kortare erfordras harvid en snabbare negativ acceleration/retardation vid upptradande av en hastighetsbegransande foreteelse vilket mojliggor mer tidseffektivt framforande av fordonet. Genom att satta strackhorisonten relativtlangreerfordrasharvidenlangsammarenegativ acceleration/retardation vid upptradande av en hastighetsbegransande foreteelse vilket nnojliggor nner konnfortnnassigt och/eller bransleekononniskt framforande. 8 Systemet I innefattar medel 120 kir att fortlopande faststalla fordonets hastighet. Medlet 120 for att fortlopande faststalla fordonets hastighet inenligt en variant hastighetsmatarorgan. The track horizon is according to a variant dependent on the vehicle speed. The stretch horizon is, according to a variant, dependent on comfort-wise considerations, industry-economic considerations and performance-efficiency considerations, ie. how time efficient the driving of the vehicle is. By setting the stretch horizon relatively shorter, a faster negative acceleration / deceleration is required when a speed-limiting phenomenon occurs, which enables more time-efficient driving of the vehicle. By setting the stretch horizon relatively long, it requires a long-term negative acceleration / deceleration when a speed-limiting phenomenon occurs, which makes it possible to perform comfortably and / or industry-economically. System I comprises a means of 120 kir to continuously determine the speed of the vehicle. The means 120 for continuously determining the speed of the vehicle according to a variant speed feeder means.

Systemet I innefattar medel 140 for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen. System I comprises means 140 for determining a speed profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage.

Medlet 140 for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen är anordnat fOr fortlOpande faststallande. The means 140 for determining a speed profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage is provided for continuous determination.

Erforderlig retardation a faststalls enligt en variant genom ekvationen: a = 2 * s Har är v den hastighet som motsvarar malhastigheten baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt 15 upptradande i en kurvatur hos fardvagen, vo nuvarande hastighet, a erforderliga retardation och s strackan till avsnittet upptradande i kurvaturen. Required deceleration a is determined according to a variant by the equation: a = 2 * s Har is v the speed corresponding to the grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section 15 appearing in a curvature of the carriageway, vo current speed, a required deceleration and s the distance to the section appearing in the curvature.

Medlet 140 for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen inbegriper medel 142 for att fortlOpande faststalla kormotstand utmed fordonets fardvag. The means 140 for determining a velocity profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage includes means 142 for continuously determining torque resistance along the vehicle carriage.

Medlet 142 kir att fortlopande faststalla kOrmotstand utmed fordonets fardvag inbegriper medel 142a for att faststalla lutningsmotstand. Medlet 142a for att faststalla lutningsmotstand inbegriper eller inbegrips i medel fOr att faststalla topologi utmed fordonets fardvag, dvs. vagbanans eventuella lutning utmed fordonets fardvag. 9 Medlet 142a for att faststalla lutningsmotstand inbegriper enligt en variant en kartinformationsenhet innefattande kartdata inbegripande karaktaristika hos vagbanan utmed fordonets fardvag inbegripande topologi utmed fordonets fardvag, samt medel f6r att bestamma fordonets position, enligt en variant innefattande ett geografiskt lagesbestamningssystem, exempelvis GPS, fOr att fortlopande bestamma fordonets position utmed fardvagen. Kartinformationsenheten och medlet for att bestamma fordonets position utgors enligt en variant av kartinformationsenheten 112 och medlet 114 for att bestamma fordonets position. The means 142 for continuously determining driving resistance along the vehicle's carriageway includes means 142a for determining inclination resistance. The means 142a for determining inclination resistance includes or is included in means for determining topology along the vehicle's carriageway, i.e. the possible slope of the carriageway along the vehicle's carriageway. The means 142a for determining inclination resistance according to a variant comprises a map information unit comprising map data including characteristics of the lane along the vehicle's lane including topology along the vehicle's lane, and means for determining the vehicle's position, according to a variant comprising a geographical tracking system, e.g. determine the position of the vehicle along the carriageway. The map information unit and the means for determining the position of the vehicle are constituted according to a variant of the map information unit 112 and the means 114 for determining the position of the vehicle.

Medlet 142 for att fortlopande faststalla kormotstand utmed fordonets fardvag inbegriper medel 142b for att faststalla friktionskaraktaristika hos fordonets drivlina. Medlet 142b for att faststalla friktionskaraktaristika hos fordonets drivlina inbegriper medel for att faststalla hastighetsskillnader i hjulen under drivning/inbromsning, sa kallad slip. Slip faststalls genom att faststalla hastighetsskillnader i hjulen, exempelvis genom att sensororgan mater rotationshastighet hos hjulen. The means 142 for continuously determining choke resistance along the vehicle's carriageway includes means 142b for determining friction characteristics of the vehicle driveline. The means 142b for determining the frictional characteristics of the vehicle's driveline includes means for determining speed differences in the wheels during driving / braking, so-called slip. Grinding is determined by determining speed differences in the wheels, for example by sensor means measuring the rotational speed of the wheels.

Medlet 142 for att fortlopande faststalla kormotstand utmed fordonets fardvag inbegriper medel 142c for att faststalla luftmotstand. Medlet 142c for att faststalla luftmotstand inbegriper modelleringsmedel for att skatta luftmotstandet medels luftmotstandskoefficient samt fordonskaraktaristika inbegripande frontarea och fordonshastigheten i kvadrat. Medlet 142c for att faststalla luftnnotstand inbegriper enligt en variant sensororgan for att mata mot fordonet inkommande luft beaktande fordonsgeometri inbegripande luftriktaranordningar fOr luftmotstandsreducering. The means 142 for continuously determining choke resistance along the vehicle's carriageway includes means 142c for determining air resistance. The means 142c for determining air resistance includes modeling means for estimating the air resistance by means of coefficient of air resistance as well as vehicle characteristics including front area and vehicle speed squared. The means 142c for determining air resistance means according to a variant sensor means for feeding air entering the vehicle, considering vehicle geometry, include air deflector devices for air resistance reduction.

Medlet 142 for att fortlopande faststalla kormotstand utmed fordonets fardvag inbegriper medel 142d for att faststalla rulInnotstand. Medlet 142d for att faststalla rullmotstand inbegriper modelleringsmedel for att skatta rullmotstandet medelst fordonskaraktaristika inbegripande antal axlar hos fordonet, fordonsvikt, och i forekommande fall dackstyp. The means 142 for continuously determining throttle resistance along the vehicle's carriageway includes means 142d for determining rolling resistance. The means 142d for determining rolling resistance includes modeling means for estimating the rolling resistance by means of vehicle characteristics including the number of axles of the vehicle, vehicle weight, and, where applicable, the type of roof.

Medlet 142 kir att faststalla kormotstand Fres inbegriper berakningsmedel (ej visat i figur). Berakningsmedlet är enligt en variant anordnat att faststalla ett medelvarde pa accelerationsbidraget, aresavg som kOrmotstandet generar Over aktuell strackhorisont, dar s är avst6ndet fran fordonet till horisonten, dvs. fonstret som fortlopande mats beaktande fordonets massa m. Detta sker i enlighet med: fos Fres(s) * ds aresavg = S * Den totala erforderliga accelerationen atot som erfordras blir saledes: v2— vo2fos Fres(s)*ds a + a atot(s) =resavg S*771 Systemet I innefattar medel 150 for att faststalla en maximalt tillaten sidoacceleration. Medlet 150 for att faststalla en maximalt tillaten sidoacceleration innefattar faststallande av en forutbestamd maximalt tillaten sidoacceleration, vilken baseras pa normala forutsattningar avseende fordonskaraktaristika sasom langd hos fordonet, bredd hos fordonet, ekipagesammansattning hos fordonet, lastfOrdelning hos fordonet, tyngdpunkt hos fordonet, samt axeltryck hos fordonet och/eller omgivningskaraktaristika sasom effektiv korfaltsbredd, friktionskaraktaristika hos vagbanan, siktforhallanden, samt doseringskaraktaristika hos vagbanan. Den forutbestamda maximalt tillatna sidoaccelerationen är enligt en utforingsform i storleksordningen 2 m/s2. Den maximalt tillatna sidoaccelerationen utgors harvid av en forutbestamd maximalt tillaten sidoacceleration. Enligt en alternativ eller kompletterande variant inbegriper den elektroniska styrenheten 100 lagrade data om den maximalt tillatna sidoacceleration. The means 142 kir to determine choir resistance Fres includes calculating means (not shown in figure). According to a variant, the calculation means is arranged to determine an average value of the acceleration contribution, aresavg which the driving resistance generates Over the current stretching horizon, where it is the distance from the vehicle to the horizon, ie. the window as continuous mass taking into account the mass of the vehicle m. This is done in accordance with: fos Fres (s) * ds aresavg = S * The total required acceleration atot required is thus: v2— vo2fos Fres (s) * ds a + a atot ( s) = travel charge S * 771 System I includes means 150 for determining a maximum permissible lateral acceleration. The means 150 for determining a maximum permissible lateral acceleration comprises determining a predetermined maximum permissible lateral acceleration, which is based on normal assumptions regarding vehicle characteristics such as length of the vehicle, width of the vehicle, crew composition of the vehicle, load distribution of the vehicle axle, vehicle axle and vehicle axle. and / or environmental characteristics such as effective corphalt width, frictional characteristics of the lane, visibility conditions, and dosing characteristics of the lane. The predetermined maximum permissible lateral acceleration is according to an embodiment in the order of 2 m / s2. The maximum permissible lateral acceleration then consists of a predetermined maximum permissible lateral acceleration. According to an alternative or complementary variant, the electronic control unit 100 includes stored data on the maximum allowable lateral acceleration.

Faststallning av maximal fordonshastighet och harvid hastighetsprofil baserat pa maximalt tillaten sidoacceleration utnyttjar information om kurvaturen hos vagbanan utmed fordonets fardvag, varvid foljande ekvation A) utnyttjas: 11 (A) vg,c,),(s) =laiat,max(s)/c(s)1 dar vm„(s) är maximala hastigheten vid strackan s framfor fordonet och atat,max(s) är den nnaximalt tillatna sidoaccelerationen vid strackan s framfOr fordonet och c(s) är kurvaturen vid strackan s framfor fordonet. Determining the maximum vehicle speed and speed profile based on the maximum permissible lateral acceleration uses information about the curvature of the lane along the vehicle's lane, using the following equation A): 11 (A) road, c,), (s) = laiat, max (s) / c (s) 1 where vm „(s) is the maximum speed at the distance s in front of the vehicle and atat, max (s) is the maximum permissible lateral acceleration at the distance s in front of the vehicle and c (s) is the curvature at the distance s in front of the vehicle.

Systemet I innefattar medel 160 for att faststalla huruvida radande fordonshastighet overstiger malhastigheten. Medlet for att faststalla huruvida radande fordonshastighet Overstiger malhastigheten inbegriper medel fOr jamfora radande fordonshastigheten med malhastigheten. System I includes means 160 for determining whether radiating vehicle speed exceeds the milling speed. The means for determining whether radiating vehicle speed exceeds the grinding speed includes means for comparing the radiating vehicle speed with the grinding speed.

Systemet I innefattar medel 170 kir att, fOr det fall radande fordonshastigheten overstiger malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. Det foreskrivna avsnittet innan kurvaturens ingang utmed fordonets fardvag och namnda avsnittet i kurvaturen bildar harvid en viss stracka Sprealm• Se fig. 3a och 3b som beskrivs nedan. System I comprises means 170 which, in case the radiating vehicle speed exceeds the grinding speed, adjust the speed of the vehicle so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway. The prescribed section before the curvature entrance along the vehicle's carriageway and the said section in the curvature then form a certain distance Sprealm • See fig. 3a and 3b as described below.

Systemet I innefattar medel 180 kir att faststalla namnda fOrerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag. System I comprises a means of 180 kir to determine said prescribed sections before the entrance of the curvature along the vehicle's carriageway.

Medlet 180 for att faststalla namnda fOrerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag innefattar medel 182 for att faststalla namnda fOrerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en foreskriven absolut framforhallning relativt det mot malhastigheten svarande avsnittet. Strackan Spreaim motsvarande avstandet mellan avsnittet upptradande i kurvaturen och avsnittet innan kurvaturens ingang faststalls harvid med en forutbestamd stracka, exempelvis 20 meter. The means 180 for determining said prescribed sections before the entrance of the curvature along the vehicle lane includes means 182 for determining said prescribed sections before the entrance of the curvature along the vehicle lane based on a prescribed absolute advance relative to the section corresponding to the grinding speed. The distance Spreaim corresponds to the distance between the section appearing in the curvature and the section before the entrance of the curvature is determined by a predetermined distance, for example 20 meters.

Medlet 180 for att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag innefattar medel 184 for att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed fordonets 12 fardvag baserat pa en retardation Than en radande fordonshastighet till namnda malhastighet. The means 180 for determining said prescribed sections before the entrance of the curvature along the vehicle lane includes means 184 for determining said prescribed sections before the entrance of the curvature along the vehicle's 12 lane based on a deceleration than a radiating vehicle speed to said grinding speed.

Strackan Spreaim motsvarande avstandet mellan avsnittet upptradande i kurvaturen och avsnittet innan kurvaturens ingang faststalls enligt en variant som en funktion av en hastighet, exempelvis komnnande hastighetsbegransning, dvs. malhastigheten och kan foljaktligen harledas till en tid t -preaim dar saledes fordonet skall ha natt denna hastighet motsvarande tiden t -preaim innan hastigheten !polar galla. Harvid faststalls spreaim till, dar Vdesired är Onskad hastighet : Spreaim = Vdesired * tpreaim Medlet 180 kir att faststalla namnda fOrerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag innefattar medel 186 for att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur. The distance Spreaim corresponds to the distance between the section appearing in the curvature and the section before the entrance of the curvature is determined according to a variant as a function of a speed, for example future speed limitation, ie. the grinding speed and can consequently be led to a time t -preaim where thus the vehicle must have night this speed corresponding to the time t -preaim before the speed! polar bile. In this case, the spreaer is determined to where Vdesired is. Desired speed: Spreaim = Vdesired * tpreaim The means 180 for determining said prescribed sections before the curvature entrance along the vehicle's trolley includes means 186 for determining said prescribed sections before the curvature entrance before the curvature's entrance along the vehicle's tramway section. the velocity profile corresponding to deceleration within said curvature.

Medlet 186 for att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation infor nannnda kurvatur innefattar medel 186a for att, for det fall avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en forutbestarnd position innan det mot malhastigheten svarande avsnittet, satta ett tak pa motsvarande stracka och/eller tid innan kurvaturens ingang. The means 186 for determining said prescribed section before the entrance of the curvature along the vehicle lane based on a section of the velocity profile corresponding to deceleration before said curvature comprises means 186a for, in the case of sections of the velocity profile corresponding to deceleration within said curvature a predetermined position before against the grinding speed corresponding to the section, set a ceiling of the corresponding distance and / or time before the entrance of the curvature.

Medlet 186a for att, for det fall avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en forutbestamd position innan det mot malhastigheten svarande avsnittet, satta ett tak pa motsvarande stracka och/eller tid innan kurvaturens ingang innefattar harvid medel for att faststalla huruvida avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en forutbestamd position innan det mot malhastigheten svarande avsnittet. 13 Vid anpassning av fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag blir enligt en variant den erforderliga accelerationen i form av retardation atot saledes: atot (s) = 2 V2 — Vo f os 'es( * ds — Spreaim) S * M. The means 186a for, in the case of sections of the velocity profile corresponding to deceleration within said curvature, a predetermined position before the section corresponding to the grinding speed, set a ceiling of the corresponding distance and / or time before the entrance of the curvature comprises means for determining whether sections of the velocity profile corresponding to deceleration within said curvature is a predetermined position before the section corresponding to the milling velocity. 13 When adjusting the speed of the vehicle so that the grinding speed is reached at a prescribed section before the entrance of the curvature along the vehicle's carriageway, according to a variant the required acceleration in the form of deceleration becomes atot thus: atot (s) = 2 V2 - Vo f os' es (* ds - Spreaim) S * M.

Retardationen genom anpassning av fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag kan ske tidigare, dvs. att retardationen initieras tidigare mot retardation for att uppna malhastighetet i kurvatur, och/eller kraftigare sa att fordonet retarderas till hastigheten vid det foreskrivna avsnittet pa en kortare stracka. The deceleration by adjusting the vehicle's speed means that the grinding speed is reached at a prescribed section before the curvature's entrance along the vehicle's carriageway can take place earlier, ie. that the deceleration is initiated earlier towards deceleration in order to achieve the grinding speed in curvature, and / or more strongly so that the vehicle is decelerated to the speed at the prescribed section for a shorter distance.

Systemet I innefattar medel 190 kir att, fOr det fall radande fordonshastigheten understiger eller motsvarar malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet. System I comprises means 190 which, in case the radiating vehicle speed is less than or corresponds to the grinding speed, adjust the speed of the vehicle so that the grinding speed is reached at the section corresponding to the grinding speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 110 kir att fortlopande faststalla upptradande av hastighetsbegransande foreteelser i form av kurvatur utmed fordonets fardvag via en lank 10. Den elektroniska styrenheten 100 är via lanken 10 anordnad att mottaga en signal fran medlet 110 representerande data for hastighetsbegransande foreteelser i form av kurvatur. The electronic control unit 100 is signal-connected to the means 110 for continuously determining the occurrence of speed-limiting phenomena in the form of curvature along the vehicle's carriageway via a lane 10. The electronic control unit 100 is arranged via the lane 10 to receive a signal from the means 110 representing data for speed limiting phenomena in the form of curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 110a innefattande kartinformationsenheten 112 och medlet 114 for att bestamma fordonets position via en lank 10a. Den elektroniska styrenheten 100 är via lanken 10a anordnad att mottaga en signal fran medlet 110a representerande kartdata for hastighetsbegransande foreteelser i form av kurvatur utmed fordonets fardvag samt positionsdata for position for kurvaturen relativt fordonet. 14 Den elektroniska styrenheten 100 är signalansluten till kameraorganet 116 via en lank 16. Den elektroniska styrenheten 100 är via lanken 16 anordnad att mottaga en signal fran kameraorganet 116 representerande data kir hastighetsbegransande foreteelser i form av kurvatur inbegripande kurvaturdata for kurvatur hos vagbanan utmed fordonets fardvag. The electronic control unit 100 is signal connected to the means 110a comprising the map information unit 112 and the means 114 for determining the position of the vehicle via a link 10a. The electronic control unit 100 is arranged via the line 10a to receive a signal from the means 110a representing map data for speed limiting phenomena in the form of curvature along the vehicle's carriageway and position data for position of the curvature relative to the vehicle. The electronic control unit 100 is signal connected to the camera means 116 via a lane 16. The electronic control unit 100 is arranged via the lane 16 to receive a signal from the camera means 116 representing data for speed limiting phenomena including curvature data for curvature of the lane along the vehicle's carriageway.

Den elektroniska styrenheten 100 är signalansluten till medlet 120 fOr att fortlOpande faststalla fordonets hastighet via en lank 20. Den elektroniska styrenheten 100 är via lanken 20 anordnad att mottaga en signal fran medlet 120 kir att fortlOpande faststalla fordonets hastighet representerande hastighetsdata for aktuell fordonshastighet. The electronic control unit 100 is signal connected to the means 120 for continuously determining the speed of the vehicle via a line 20. The electronic control unit 100 is arranged via the line 20 to receive a signal from the means 120 for continuously determining the speed of the vehicle representing speed data for the current vehicle speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 140 kir att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en nnalhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen via en lank 40a. Den elektroniska styrenheten 100 är via lanken 40a anordnad att mottaga en signal Than medlet 140 representerande accelerationsdata for erforderlig acceleration for att na malhastigheten enligt faststalld hastighetsbegransande foreteelse i form av kurvatur vid kurvaturen. The electronic control unit 100 is signal connected to the means 140 for determining a velocity profile based on radiating vehicle speed and comprising a zero velocity based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage via a long 40a. The electronic control unit 100 is arranged via the line 40a to receive a signal Than means 140 representing acceleration data for required acceleration in order to reach the grinding speed according to a fixed speed-limiting phenomenon in the form of curvature at the curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 142 fOr att fortlopande faststalla kormotstand utmed fordonets fardvag via en lank 42. Den elektroniska styrenheten 100 är via lanken 42 anordnad att mottaga en signal fran medlet 142 representerande kormotstandsdata. The electronic control unit 100 is signal connected to the means 142 for continuously determining chore resistance along the vehicle's trolley via a lane 42. The electronic control unit 100 is arranged via the lane 42 to receive a signal from the means 142 representing chore resistance data.

Den elektroniska styrenheten 100 ar signalansluten till medlet 142a fOr att faststalla lutningsmotstand via en lank 42a. Den elektroniska styrenheten 100 är via lanken 42a anordnad att mottaga en signal fran medlet 142a representerande lutningsdata for lutning hos vagbanan utmed fordonets fardvag. The electronic control unit 100 is signal connected to the means 142a for determining inclination resistance via a link 42a. The electronic control unit 100 is arranged via the line 42a to receive a signal from the means 142a representing slope data for inclination of the carriageway along the vehicle's carriageway.

Den elektroniska styrenheten 100 är signalansluten till medlet 142b for att faststalla friktionskaraktaristika hos fordonets drivlina via en lank 42b. Den elektroniska styrenheten 100 är via lanken 42b anordnad att mottaga en signal Than medlet 142b representerande friktionsdata for friktionskaraktaristika hos fordonets drivlina. The electronic control unit 100 is signal connected to the means 142b to determine the friction characteristics of the vehicle driveline via a link 42b. The electronic control unit 100 is arranged via the line 42b to receive a signal Than means 142b representing friction data for friction characteristics of the vehicle driveline.

Den elektroniska styrenheten 100 ar signalansluten till medlet 142c f6r att faststalla luftmotstand via en lank 42c. Den elektroniska styrenheten 100 är via lanken 42c anordnad att mottaga en signal fran medlet 142c representerande luftmotstandsdata fOr fordonet utmed vagbanan utmed fordonets fardvag. The electronic control unit 100 is signal connected to the means 142c to determine air resistance via a link 42c. The electronic control unit 100 is arranged via the line 42c to receive a signal from the means 142c representing air resistance data for the vehicle along the carriageway along the vehicle's carriageway.

Den elektroniska styrenheten 100 är signalansluten till medlet 142d fOr att faststalla rullmotstand via en lank 42d. Den elektroniska styrenheten 100 ar via lanken 42d anordnad att mottaga en signal Than medlet 142d representerande rullmotstandsdata for fordonet utmed vagbanan utmed fordonets fardvag. The electronic control unit 100 is signal connected to the means 142d for determining rolling resistance via a link 42d. The electronic control unit 100 is arranged via the line 42d to receive a signal Than means 142d representing rolling resistance data for the vehicle along the carriageway along the vehicle's carriageway.

Den elektroniska styrenheten 100 ar signalansluten till medlet 140 f6r att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en rnalhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen via en lank 40b. Den elektroniska styrenheten 100 ar via Ian ken 40b anordnad att sanda en signal till medlet 140 representerande hastighetsdata for radande fordonshastighet, data for hastighetsbegransande foreteelse i form av kurvatur och avstandsdata till kurvatur, samt kormotstandsdata. The electronic control unit 100 is signal connected to the means 140 for determining a velocity profile based on radiating vehicle speed and comprising a velocity based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriageway via a long 40b. The electronic control unit 100 is arranged via the line 40b to send a signal to the means 140 representing speed data for radiating vehicle speed, data for speed limiting phenomenon in the form of curvature and distance data to curvature, and chore resistance data.

Den elektroniska styrenheten 100 ar signalansluten till medlet 150 for att faststalla en maximalt tillaten sidoacceleration via en lank 50. Den elektroniska styrenheten 100 ar via lanken 50 anordnad att mottaga en signal fran medlet 150 representerande sidoaccelerationsdata for maximalt tillaten sidoacceleration. 16 Den elektroniska styrenheten 100 är signalansluten till medlet 160 for att faststalla huruvida radande fordonshastighet overstiger nrahastigheten via en lank 60a. Den elektroniska styrenheten 100 är via lanken 60a anordnad att sanda en signal till medlet 160 representerande hastighetsdata f6r radande hastighet samt malhastighetsdata for malhastighet. The electronic control unit 100 is signal connected to the means 150 for determining a maximum permissible lateral acceleration via a link 50. The electronic control unit 100 is arranged via the link 50 to receive a signal from the means 150 representing side acceleration data for maximum permissible lateral acceleration. The electronic control unit 100 is signal connected to the means 160 for determining whether radiating vehicle speed exceeds the near speed via a link 60a. The electronic control unit 100 is arranged via the line 60a to send a signal to the means 160 representing speed data for erasing speed as well as grinding speed data for grinding speed.

Medlet 160 f6r att faststalla huruvida radande fordonshastighet overstiger malhastigheten är anordnat att jamfOra namnda hastighetsdata och malhastighetsdata f6r att salunda faststalla data for huruvida radande fordonshastighet overstiger malhastigheten. The means 160 for determining whether radiating vehicle speed exceeds the grinding speed is arranged to compare said speed data and grinding speed data for thereby determining data for whether radiating vehicle speed exceeds the grinding speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 160 for att faststalla huruvida radande fordonshastighet Overstiger rnalhastigheten via en lank 60b. Den elektroniska styrenheten 100 är via lanken 60b anordnad att mottaga en signal fran medlet 160 representerande data fOr huruvida radande fordonshastighet overstiger malhastigheten. The electronic control unit 100 is signal connected to the means 160 for determining whether radiating vehicle speed exceeds the normal speed via a line 60b. The electronic control unit 100 is arranged via the line 60b to receive a signal from the means 160 representing data as to whether radiating vehicle speed exceeds the grinding speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 170 fOr att anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag via en lank 70a. Den elektroniska styrenheten 100 är via lanken 70a anordnad att sanda en signal till medlet 170 representerande data att radande fordonshastighet overstiger malhastigheten. The electronic control unit 100 is signal connected to the means 170 for adjusting the speed of the vehicle so that the grinding speed is reached at a prescribed section before the entrance of the curvature along the vehicle's carriageway via a link 70a. The electronic control unit 100 is arranged via the line 70a to send a signal to the means 170 representing data that radiating vehicle speed exceeds the grinding speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 170 fOr att anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag via en lank 70b. Den elektroniska styrenheten 100 är via Ian ken 70b anordnad att mottaga en signal fran medlet 170 representerande anpassningsdata for anpassning av fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. The electronic control unit 100 is signal connected to the means 170 for adjusting the speed of the vehicle so that the grinding speed is reached at a prescribed section before the entrance of the curvature along the vehicle's carriageway via a link 70b. The electronic control unit 100 is arranged via the line 70b to receive a signal from the means 170 representing adaptation data for adjusting the speed of the vehicle so that the grinding speed is reached at a prescribed section before the entrance of the curvature along the vehicle's carriageway.

Den elektroniska styrenheten 100 ar signalansluten till medlet 180 for att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed 17 fordonets fardvag via en lank 80. Den elektroniska styrenheten 100 är via lanken 80 anordnad att mottaga en signal fran medlet 180 representerande data fOr faststallt fOrerskrivet avsnitt innan kurvaturens ingang. The electronic control unit 100 is signal connected to the means 180 for determining said prescribed sections before the entrance of the curvature along the vehicle's route via a line 80. The electronic control unit 100 is arranged via the line 80 to receive a signal from the means 180 representing data for determined prescribed sections before the entrance of the curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 182 for att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en foreskriven absolut framforhallning relativt det mot malhastigheten svarande avsnittet via en lank 82. Den elektroniska styrenheten 100 är via lanken 82 anordnad att mottaga en signal fran medlet 182 representerande data fOr faststallt forerskrivet avsnitt innan kurvaturens ingang. The electronic control unit 100 is signal-connected to the means 182 for determining said prescribed sections before the curvature entrance along the vehicle's carriageway based on a prescribed absolute advance relative to the section corresponding to the grinding speed via a line 82. The electronic control unit 100 is arranged via the line 82 to receive a signal from the means 182 representing data for the determined prescribed section before the input of the curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 184 fOr att faststalla namnda forerskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en retardation Than en radande fordonshastighet till namnda malhastighet via en lank 84. Den elektroniska styrenheten 100 är via lanken 84 anordnad att mottaga en signal fran medlet 184 representerande data f6r faststallt forerskrivet avsnitt innan kurvaturens ingang. The electronic control unit 100 is signal connected to the means 184 for determining said prescribed sections before the entrance of the curvature along the vehicle's vessel based on a deceleration than a radiating vehicle speed to said grinding speed via a line 84. The electronic control unit 100 is arranged via the line 84 to receive a signal from the means 184 representing data for a fixed prescribed section before the entrance of the curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 186 for att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur via en lank 86. Den elektroniska styrenheten 100 ar via lanken 86 anordnad att mottaga en signal fran medlet 186 representerande data for faststallt forerskrivet avsnitt innan kurvaturens ingang. The electronic control unit 100 is signal connected to the means 186 for determining said prescribed sections before the entrance of the curvature along the vehicle's route based on a section of the speed profile corresponding to deceleration within said curvature via a line 86. The electronic control unit 100 is arranged via the line 86 to receive a signal from means 186 representing data for determined prescribed section before the input of the curvature.

Den elektroniska styrenheten 100 är signalansluten till medlet 190 for att anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet via en lank 90a. Den elektroniska styrenheten 100 är via lanken 90a anordnad att sanda en signal till medlet 18 190 representerande data att radande fordonshastighet understiger eller motsvarar malhastigheten. The electronic control unit 100 is signal connected to the means 190 for adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed via a link 90a. The electronic control unit 100 is arranged via the line 90a to send a signal to the means 18 190 representing data that the radiating vehicle speed is less than or corresponds to the grinding speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 190 for att anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet via en lank 90b. Den elektroniska styrenheten 100 är via lanken 90b anordnad att mottaga en signal Than medlet 190 representerande anpassningsdata fOr anpassning av fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet. The electronic control unit 100 is signal connected to the means 190 for adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed via a link 90b. The electronic control unit 100 is arranged via the line 90b to receive a signal Than means 190 representing adaptation data for adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed.

Fig. 3a illustrerar schematiskt en kurvaturprofil i form av en rondell med en viss krOkningsradie. Fordonet framfOrs pa en vagbana och är vid kurvkorningen i rondellen avsett att utfora en vanstersvang i enlighet med pilens A riktning. Fig. 3a schematically illustrates a curvature profile in the form of a roundel with a certain radius of curvature. The vehicle is driven on a lane and is at the cornering of the roundabout intended to perform a left turn in accordance with the direction of the arrow A.

Fig. 3b illustrerar schematiskt hastighetsprofiler for kurvaturprofilen i fig. 3a faststallda medelst systemet I enligt foreliggande uppfinning. Fig. 3b schematically illustrates velocity profiles for the curvature profile in Fig. 3a determined by the system I according to the present invention.

Harvid faststalls en hastighetsprofil baserad pa radande fordonshastighet och innefattande en rnalhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt P1 upptradande i kurvaturen, har rondellen, hos fardvagen. A velocity profile is then established based on radiating vehicle speed and comprising a velocity velocity based on a maximum permissible lateral acceleration of the vehicle associated with a section P1 appearing in the curvature, has the roundabout, of the carriage.

I fallet cla radande fordonshastigheten vo overstiger malhastigheten v, anpassas fordonets hastighet sa att malhastigheten v uppnas vid ett foreskrivet avsnitt P2 innan kurvaturens, har rondellens, ingang utmed fordonets fardvag. In the case cla radiating the vehicle speed vo exceeds the grinding speed v, the speed of the vehicle is adjusted so that the grinding speed v is obtained at a prescribed section P2 before the curvature, has the roundabout, entrance along the vehicle's carriageway.

I fallet da radande fordonshastigheten understiger eller motsvarar malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet Den heldragna linjen i fig. 3b visar foljaktligen den faststallda hastighetsprofilen baserad pa maximalt tillaten sidoacceleration. 19 Den streckade linjen i fig. 3b visar harvid den onskade hastighetsprofilen for framforande av fordonet dar malhastigheten v uppnas vid det foreskrivna avsnittet P2 innan kurvaturens ingang, dar avsnittet P2 är fOrefintligt en stracka sp realm innan avsnittet P1 i kurvaturen. In the case where the radiating vehicle speed is less than or equal to the grinding speed, adjust the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed. The solid line in Fig. 3b consequently shows the determined speed profile based on maximum permissible lateral acceleration. The dashed line in Fig. 3b shows the desired speed profile for driving the vehicle where the grinding speed v is reached at the prescribed section P2 before the entrance of the curvature, where section P2 is presently a straight sp realm before section P1 in the curvature.

I fig. 3b illusterars hur det fOreskrivna avsnittet P2 faststalls innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos den pa maximalt tillaten sidoacceleration baserade hastighetsprofilen svarande mot retardation infor namnda kurvatur, dvs. i omradet for initiering av retardation enligt den hastighetsprofilen. Fig. 3b illustrates how the prescribed section P2 is determined before the entrance of the curvature along the vehicle's route based on a section of the speed profile based on maximum permissible lateral acceleration corresponding to deceleration within said curvature, ie. in the area for initiating deceleration according to that velocity profile.

Den punktstreckade linjen i fig. 3b visar icke onskad hastighetsprofil. The dotted line in Fig. 3b shows the unwanted velocity profile.

Fig. 4 schematiskt illustrerar ett blockschema av ett forfarande for anpassning av ett fordons framforande pa en vagbana i samband med kurvkOrning enligt en utforingsform av foreliggande uppfinning. Fig. 4 schematically illustrates a block diagram of a method for adapting the driving of a vehicle on a lane in connection with cornering according to an embodiment of the present invention.

Enligt en utforingsform innefattar forfarandet for anpassning av ett fordons 15 framforande pa en vagbana i samband med kurvkorning ett forsta steg Si. I detta steg faststalls upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag. According to one embodiment, the method for adjusting the driving of a vehicle on a lane in connection with cornering comprises a first step Si. In this step, the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway is determined.

Enligt en utforingsform innefattar forfarandet for anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning ett andra steg S2. I detta steg faststalls en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen. According to one embodiment, the method for adapting the driving of a vehicle on a lane in connection with cornering involves a second step S2. In this step, a velocity profile is established based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage.

Enligt en utforingsform innefattar forfarandet for anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning ett tredje steg S3. I detta steg anpassas, f6r det fall radande fordonshastigheten overstiger malhastigheten, fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. According to one embodiment, the method for adapting the driving of a vehicle on a lane in connection with cornering comprises a third step S3. In this step, in case the radiating vehicle speed exceeds the grinding speed, the vehicle speed is adjusted so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway.

Med hanvisning till fig. 5, visas ett diagram av ett utforande av en anordning 500. Styrenheten 100 som beskrivs med hanvisning till fig. 2 kan i ett utfOrande innefatta anordningen 500. Anordningen 500 innefattar ett ickeflyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. Referring to Fig. 5, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 2 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510 and a load / write memory 550.

Det icke-flyktiga minnet 520 har en fOrsta minnesdel 530 van i ett datorprogram, sa som ett operativsystem, är lagrat for att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, I/O-organ, en ND-omvandlare, en tids- och datum inmatnings- och overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 har ocksa en andra minnesdel 540. The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.

Det tillhandahalles ett datorprogram P som innefattar rutiner for anpassning av ett fordons framforande pa en vagbana i samband med kurvkorning enligt det innovativa forfarandet. Programmet P innefattar rutiner for att faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag. Programmet P innefattar rutiner for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en nnalhastighet baserad pa en nnaxinnalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen. A computer program P is provided which includes routines for adapting the driving of a vehicle on a lane in connection with cornering according to the innovative method. The program P includes routines for determining the occurrence of speed-limiting phenomena in the form of curvatures along the vehicle's carriageway. The program P includes routines for determining a velocity profile based on radiating vehicle speed and comprising a zero velocity based on a near-permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage.

Programmet P innefattar rutiner for att for det fall radande fordonshastigheten overstiger malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. Progrannmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. Program P includes routines for adjusting the vehicle speed in the event that the radiating vehicle speed exceeds the grinding speed so that the grinding speed is achieved at a prescribed section before the curvature entrance along the vehicle's carriageway. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.

Nar det är beskrivet att databehandlingsenheten 510 utfor en viss funktion ska det forstas att databehandlingsenheten 510 utfOr en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

Databehandlingsanordningen 510 kan kommunicera med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation 21 med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 är anordnat att kommunicera med databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan Lex. lankarna fOrbundna med styrenheten 100 anslutas. The data processing device 510 may communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication 21 with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. Read / the write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, Lex can. The links connected to the control unit 100 are connected.

Nar data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är databehandlingsenheten 510 iordningstalld att utfora exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att faststalla upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en maximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att for det fall radande fordonshastigheten overstiger nnalhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag. When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals on the data port 599 can be used by the device 500 to determine the occurrence of speed limiting phenomena in the form of curvatures along the vehicle's carriageway. The received signals at data port 599 may be used by the device 500 to determine a velocity profile based on radiating vehicle speed and including a grinding speed based on a maximum allowable lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage. The received signals on the data port 599 can be used by the device 500 to, in case the radiating vehicle speed exceeds the needle speed, adjust the speed of the vehicle so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway.

Delar av metoderna beskrivna hari kan utforas av anordningen 500 med hjalp av databehandlingsenheten 510 sonn Icor progrannnnet lagrat i nninnet 560 eller las/skrivminnet 550. Nar anordningen 500 kir programmet, exekveras hari beskrivna f6rfaranden. Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 son Icor program stored in the memory 560 or read / write memory 550. When the device 500 runs the program, the methods described herein are executed.

Beskrivningen ovan av de foredragna utforingsformerna av foreliggande uppfinning har tillhandahallits i illustrerande och beskrivande syfte. Den ar inte avsedd att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga for fackmannen. Utforingsformerna har valts och beskrivits fOr att bast forklara principerna av uppfinningen och dess praktiska 22 tillampningar, och darmed mojliggora kir en fackman att fOrsta uppfinningen for olika utforingsformer och med de olika modifieringarna som är lampliga for det avsedda bruket. 23 The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical applications, thereby enabling one skilled in the art to first invent the invention for various embodiments and with the various modifications which are appropriate to the intended use. 23

Claims

PATENTKRAVPATENT REQUIREMENTS

1. Forfarande for anpassning av ett fordons (1) framforande pa en vagbana i sannband med kurvkorning, innefattande steget att faststalla (Si) upptradande av hastighetsbegransande foreteelser i form av kurvaturer utmed fordonets fardvag, kannetecknat av stegen att: faststalla (S2) en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en nnaximalt tillaten sidoacceleration hos fordonet associerad med ett avsnitt upptradande i en kurvatur hos fardvagen; och, for det fall radande fordonshastighet Overstiger malhastigheten, anpassa (S3) fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag.A method for adapting the driving of a vehicle (1) on a lane in true band with cornering, comprising the step of determining (Si) the occurrence of speed limiting phenomena in the form of curvatures along the vehicle's carriageway, characterized by the steps of: determining (S2) a speed profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage; and, in case the radiating vehicle speed exceeds the grinding speed, adjust (S3) the vehicle speed so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway.

2. F6rfarande enligt krav 1, innefattande steget att, for det fall radande fordonshastigheten understiger eller motsvarar malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet.A method according to claim 1, comprising the step of, in case the radiating vehicle speed is less than or corresponding to the grinding speed, adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed.

3. Forfarande enligt krav 1 eller 2, innefattande steget att faststalla namnda fOreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en foreskriven absolut framforhallning relativt det mot malhastigheten svarande avsnittet.A method according to claim 1 or 2, comprising the step of determining said prescribed sections before the entrance of the curvature along the vehicle's route based on a prescribed absolute advance relative to the section corresponding to the grinding speed.

4. Forfarande enligt nagot av kraven 1-3, innefattande steget att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en retardation mot fran en radande fordonshastighet till namnda malhastighet.A method according to any one of claims 1-3, comprising the step of determining said prescribed sections before the entrance of the curvature along the vehicle pathway based on a deceleration towards from a radiating vehicle speed to said grinding speed.

5. Forfarande enligt nagot av kraven 1-4, innefattande steget att faststalla 25 namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur. 24A method according to any one of claims 1-4, comprising the step of determining said prescribed sections before the entrance of the curvature along the vehicle lane based on a section of the speed profile corresponding to deceleration within said curvature. 24

6. Forfarande enligt krav 5, varvid, fOr det fall avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en forutbestarnd position innan det mot malhastigheten svarande avsnittet, ett tak pa motsvarande stracka och/eller tid innan kurvaturens ingang satts.A method according to claim 5, wherein, in the case of sections of the velocity profile corresponding to deceleration within said curvature, a predetermined position lies before the section corresponding to the grinding speed, a ceiling of the corresponding distance and / or time before the entrance of the curvature is set.

7. System (I) for anpassning av ett fordons (1) framfOrande pa en vagbana i samband med kurvkorning, innefattande, medel (110) for att faststalla upptradande av hastighetsbegransande fOreteelser i form av kurvaturer utmed fordonets fardvag, kannetecknat av medel (140) for att faststalla en hastighetsprofil baserad pa radande fordonshastighet och innefattande en malhastighet baserad pa en nnaximalt tillaten sidoacceleration hos fordonet associerad nned ett avsnitt upptradande i en kurvatur hos fardvagen; och medel (170) for att, for det fall radande fordonshastigheten overstiger malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid ett foreskrivet avsnitt innan kurvaturens ingang utmed fordonets fardvag.A system (I) for adapting a vehicle (1) driving on a lane in connection with cornering, comprising, means (110) for determining the occurrence of speed limiting events in the form of curvatures along the vehicle's carriage, marked by means (140) to determine a velocity profile based on radiating vehicle speed and comprising a grinding speed based on a maximum permissible lateral acceleration of the vehicle associated with a section appearing in a curvature of the carriage; and means (170) for adjusting the speed of the vehicle, in case the radiating vehicle speed exceeds the grinding speed, so that the grinding speed is reached at a prescribed section before the curvature entrance along the vehicle's carriageway.

8. System enligt krav 7, innefattande medel (190) for att, for det fall radande fordonshastigheten understiger eller motsvarar malhastigheten, anpassa fordonets hastighet sa att malhastigheten uppnas vid det mot malhastigheten svarande avsnittet.A system according to claim 7, comprising means (190) for, in case the radiating vehicle speed is less than or corresponding to the grinding speed, adjusting the speed of the vehicle so that the grinding speed is achieved at the section corresponding to the grinding speed.

9. System enligt krav 7 eller 8, innefattande medel (182) for att faststalla 20 namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa en foreskriven absolut framforhallning relativt det mot malhastigheten svarande avsnittet.A system according to claim 7 or 8, comprising means (182) for determining said prescribed sections before the entrance of the curvature along the vehicle's route based on a prescribed absolute advance relative to the section corresponding to the grinding speed.

10. System enligt nagot av kraven 7-9, innefattande medel (184) for att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed 25 fordonets fardvag baserat pa en retardation fran en radande fordonshastighet till namnda malhastighet.A system according to any one of claims 7-9, comprising means (184) for determining said prescribed section before the entrance of the curvature along the vehicle pathway based on a deceleration from a radiating vehicle speed to said grinding speed.

11. System enligt nagot av kraven 7-10, innefattande medel (186) for att faststalla namnda foreskrivna avsnitt innan kurvaturens ingang utmed fordonets fardvag baserat pa ett avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur.A system according to any one of claims 7-10, comprising means (186) for determining said prescribed sections before the entrance of the curvature along the vehicle's carriageway based on a section of the speed profile corresponding to deceleration within said curvature.

12. System enligt krav 11, innefattande medel (186a) for att, for det fall avsnitt hos hastighetsprofilen svarande mot retardation infor namnda kurvatur ligger en fOrutbestamd position innan det mot malhastigheten svarande avsnittet, satta ett tak pa motsvarande stracka och/eller tid innan kurvaturens ingang.A system according to claim 11, comprising means (186a) for, in the case of a section of the velocity profile corresponding to deceleration within said curvature, a predetermined position before the section corresponding to the grinding speed, set a ceiling of the corresponding distance and / or time before the curvature. entrance.

13. Fordon (1) innefattande ett system (I) enligt nagot av kraven 7-12.Vehicle (1) comprising a system (I) according to any one of claims 7-12.

14. Datorprogram (P) f6r anpassning av ett fordons framf6rande pa en vagbana i samband med kurvkorning, dar namnda datorprogram (P) innefattar programkod som, da det 'cars av en elektronisk styrenhet (100) eller en annan dator (500) ansluten till den elektroniska styrenheten (100), formar den elektroniska styrenheten (100) att utfOra stegen enligt krav 1-6.Computer program (P) for adapting the driving of a vehicle on a lane in connection with cornering, wherein said computer program (P) comprises program code which, when it's cars of an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), the electronic control unit (100) forms to perform the steps according to claims 1-6.

15. Datorprogramprodukt innefattande ett digitalt lagringsmedium som lagrar datorprogrammet enligt krav 14. 1/4 1 j uA computer program product comprising a digital storage medium which stores the computer program according to claim 14. 1/4 1 j u