SE537992C2 - Control unit and method for controlling the speed of a vehicle in a distance controlled vehicle train when reversing - Google Patents

Control unit and method for controlling the speed of a vehicle in a distance controlled vehicle train when reversing Download PDF

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Publication number
SE537992C2
SE537992C2 SE1451022A SE1451022A SE537992C2 SE 537992 C2 SE537992 C2 SE 537992C2 SE 1451022 A SE1451022 A SE 1451022A SE 1451022 A SE1451022 A SE 1451022A SE 537992 C2 SE537992 C2 SE 537992C2
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vehicle
speed
unit
control unit
slope
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SE1451022A
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SE1451022A1 (en
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Henrik Pettersson
Assad Alam
Kuo-Yun Liang
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Scania Cv Ab
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Priority to SE1451022A priority Critical patent/SE537992C2/en
Priority to DE102015010559.0A priority patent/DE102015010559A1/en
Publication of SE1451022A1 publication Critical patent/SE1451022A1/en
Publication of SE537992C2 publication Critical patent/SE537992C2/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Transmission Device (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

537 992 Sammandraci Metod och styrenhet for aft reglera hastigheten pa ett fordon i ett avstandsreglerat fordonstag vid backtagning, varvid fordonstaget innefattar ett forsta fordon A och ett andra fordon B och det forsta fordonet A är ett direkt framforvarande fordon till det andra fordonet B. Styrenheten är placerad i det andra fordonet B och innefattar en hastighetsenhet som är konfigurerad aft bestamma ett accelerationsvarde al far det forsta fordonet A som beskriver hur mycket det farsta fordonet A accelererar. Styrenheten innefattar aven en backenhet som ar konfigurerad aft bestamma om det forsta fordonet A fardas i en brant nedforsbacke, och en berakningsenhet som är konfigurerad aft jamfora accelerationsvardet al med en accelerationskonstant ka. Om al > ka samt det fOrsta fordonet är i en brant nedforsbacke, sa är styrenheten konfigurerad aft generera en styrsignal Sreg som anger en begransning av det andra fordonets fOrmaga aft aka sin hastighet, varvid det andra fordonets farmaga aft aka sin hastighet begransas i enlighet armed. 537 992 Sammandraci Method and control unit for regulating the speed of a vehicle in a remote-controlled vehicle roof when reversing, the vehicle roof comprising a first vehicle A and a second vehicle B and the first vehicle A being a directly forward vehicle to the second vehicle B. The control unit is located in the second vehicle B and comprises a speed unit configured to determine an acceleration value of the first vehicle A which describes how much the first vehicle A accelerates. The control unit also comprises a reversing unit which is configured to determine whether the first vehicle A is traveling on a steep downhill slope, and a calculating unit which is configured to compare the acceleration value al with an acceleration constant ka. If all and the first vehicle are on a steep downhill slope, then the control unit is configured to generate a control signal Sreg which indicates a limitation of the other vehicle's capacity at its speed, whereby the second vehicle's luggage is also limited at its speed in accordance with armed .

Description

537 992 med lagre hastighet finns framfor fordonet, sa over* hastighetsregleringen till avstandsreglering. Vaglutningen kan i viss man paverka fordonets malhastighet. 537 992 with lower speed is in front of the vehicle, said over * speed control to distance control. The slope of the road can to some extent affect the grinding speed of the vehicle.

I EP2460706A1 och US2012/0123659A1 beskrivs hur trafikstockningar vid backar kan undvikas genom att avstand mellan fordon tillats minska infOr backar for all sedan efter backkron overga till normalt avstand. EP2460706A1 and US2012 / 0123659A1 describe how traffic jams on slopes can be avoided by allowing the distance between vehicles to be reduced infOr slopes before all after hilltops transition to normal distance.

Vid fordonstag ãr avstanden mellan fordon korta, och det kravs sakerstallda losningar for all kunna kora pa ett bransleeffektivt satt vid backar. Det är ett syfte med uppfinningen att tillhandahalla ett forbattrat satt all reglera fordon i fordonstag vid backar. With vehicle stays, the distance between vehicles is short, and required solutions are required for everyone to be able to drive in an industry-efficient way on slopes. It is an object of the invention to provide an improved set of all regulated vehicles in vehicle roofs on slopes.

Sammanfattning av uppfinningen Enligt en f6rsta aspekt sa uppnas atminstone delvis syftet genom en styrenhet for att reglera hastigheten pa ett fordon i ett avstandsreglerat fordonstag vid backtagning. Fordonstaget innefattar ett forsta fordon A och ett andra fordon B dar det forsta fordonet A är ett direkt framforvarande fordon till det andra fordonet B. Styrenheten är placerad i det andra fordonet B och innefattar en hastighetsenhet som är konfigurerad all bestamma ett accelerationsvarde al fOr det forsta fordonet A som beskriver hur mycket det forsta fordonet A accelererar. Styrenheten innefattar vidare en backenhet som är konfigurerad all bestamma om det f6rsta fordonet A fardas i en brant nedf6rsbacke, och en berakningsenhet som är konfigurerad all jamfora accelerationsvardet al med en accelerationskonstant ka. Om al > ka samt det forsta fordonet är i en brant nedforsbacke, sa är styrenheten konfigurerad all generera en styrsignal Sreg som anger en begransning av det andra fordonets formaga all Oka sin hastighet, varvid det andra fordonets formaga all Oka sin hastighet begransas i enlighet darmed. Summary of the invention According to a first aspect, the purpose is achieved at least in part by a control unit for regulating the speed of a vehicle in a distance-controlled vehicle roof when reversing. The vehicle roof comprises a first vehicle A and a second vehicle B where the first vehicle A is a directly forward vehicle to the second vehicle B. The control unit is located in the second vehicle B and comprises a speed unit which is configured to determine an acceleration value al for the first vehicle A which describes how much the first vehicle A accelerates. The control unit further comprises a reversing unit which is configured to determine whether the first vehicle A is traveling on a steep descent slope, and a calculation unit which is configured to compare the acceleration value a1 with an acceleration constant ka. If al> ka and the first vehicle are on a steep downhill slope, then the control unit is configured to generate a control signal Sreg which indicates a limitation of the other vehicle's shape all Oka's speed, whereby the second vehicle's shape all Oka's speed is limited accordingly .

Styrenheten avbryter alltsa den pagaende avstandsregleringen vid branta nedforsbackar och begransar det andra fordonets mojlighet all accelerera med hjalp av motorn. Pa sa satt undviks onodig acceleration som ger upphov till inbromsning i nedforsbacken. Eventuellt avstandfel mellan fordonen som kvarstar 3 537 992 efter nedforsbackens slut kan sedan tas in nar nedforsbacken är slut och det andra fordonet B inte langre riskerar all kora for nara det forsta fordonet A. Eftersom inbromsning i nedforsbacken pa grund av tidigare onodig acceleration undviks, sa kan bransle sparas. Avstandregleringen kan vara baserad pa att halla konstanta avstand mellan fordonen, eller vara beroende av fordonens hastighet. Med direkt framforvarande menas har att det inte finns nagot annat fordon mellan fordonet A och fordonet B. The control unit thus interrupts the current distance control on steep descents and limits the possibility of the other vehicle accelerating with the help of the engine. In this way, unnecessary acceleration is avoided, which gives rise to deceleration on the downhill slope. Any distance error between the vehicles that remains 3,537,992 after the end of the downhill slope can then be taken in when the downhill slope is over and the second vehicle B no longer risks driving to the first vehicle A. Since braking on the downhill slope due to previous unnecessary acceleration is avoided, so industry can be saved. The distance control can be based on keeping a constant distance between the vehicles, or be dependent on the speed of the vehicles. By direct forward is meant that there is no other vehicle between vehicle A and vehicle B.

Enligt en utforingsform innefattar styrsignalen Sreg en hastighetsbegransning, en 10 momentbegransning och/eller en accelerationsbegransning. Det andra fordonet B kan alltsa begransas pa olika sat. According to one embodiment, the control signal Sreg comprises a speed limit, a torque limit and / or an acceleration limit. The other vehicle B can thus be limited in different ways.

Enligt en utforingsform innefattar styrsignalen Sreg ett konstant varde vk pa det andra fordonets hastighet v2. Enligt en utforingsform ar det konstanta vardet vk det andra fordonets nuvarande hastighet v2. Det andra fordonets hastighet v2 fryses alltsa da till dess nuvarande hastighet. Pa sa satt kan det andra fordonet B tvingas all inte aka sin hastighet. Enligt en annan utfaringsform innefattar styrsignalen Sreg en funktion av ett annat fordons hastighet i fordonstaget som begransar det andra fordonets hastighet v2, exempelvis det forsta fordonets hastighet (d.v.s. det framforvarande fordonets hastighet). Funktionen kan istallet vara beroende av hastigheten pa ett annat fordon i fordonstaget. Exempelvis kan det finnas ett ledarfordon fare det forsta fordonet A som tillhor samma fordonstag som fordonen A och B. Funktionen kan da vara beroende av ledarfordonets hastighet. Alternativt kan funktionen vara beroende av hastigheten pa ett fordon i fordonstaget placerat bakom det andra fordonet B. Funktionen kan aven vara beroende av hastigheterna pa ett flertal fordon i fordonstaget i kombination. According to one embodiment, the control signal Sreg comprises a constant value vk at the speed v2 of the other vehicle. According to one embodiment, the constant value is the current speed of the other vehicle v2. The speed v2 of the other vehicle is then frozen to its current speed. In this way, the other vehicle B can not be forced to drive at all speeds. According to another embodiment, the control signal Sreg comprises a function of the speed of another vehicle in the vehicle stay which limits the speed v2 of the second vehicle, for example the speed of the first vehicle (i.e. the speed of the vehicle in front). The function may instead depend on the speed of another vehicle in the vehicle stay. For example, there may be a conductor vehicle danger the first vehicle A belonging to the same vehicle roof as vehicles A and B. The function may then depend on the speed of the conductor vehicle. Alternatively, the function may depend on the speed of one vehicle in the vehicle stay located behind the other vehicle B. The function may also depend on the speeds of a plurality of vehicles in the vehicle stay in combination.

Enligt en utforingsform är det andra fordonet forsett med en detektorenhet for att detektera en relativ hastighet vrel mellan det andra fordonet B och det forsta 30 fordonet A, varvid hastighetsenheten är konfigurerad att bestamma accelerationsvardet al baserat pa den relativa hastigheten vrel. Pa sa satt kan det 4 537 992 andra fordonet B bestamma det f6rsta fordonets acceleration utan aft vara beroende av information fran det f6rsta fordonet A. According to one embodiment, the second vehicle is provided with a detector unit for detecting a relative speed between the second vehicle B and the first vehicle A, the speed unit being configured to determine the acceleration value al based on the relative speed vrel. In this way, the 4,537,992 second vehicle B can determine the acceleration of the first vehicle without being dependent on information from the first vehicle A.

Enligt en ufforingsform är backenheten konfigurerad att bestamma lutningen a pa 5 vagen som det forsta fordonet A fardas pa, och bestamma om det fOrsta fordonet A fardas i en brant nedf6rsbacke baserat pa lutningen a. According to one embodiment, the hill unit is configured to determine the slope of the road on which the first vehicle A is traveling, and to determine whether the first vehicle A is traveling on a steep downhill slope based on the slope a.

Enligt en ufforingsform är det andra fordonet B utrustat med en kartenhet med topografidata och en positioneringsenhet samt en avstandsdetektorenhet for aft uppmata avstandet mellan det forsta och det andra fordonet A, B, varvid backenheten är konfigurerad att bestamma positionen pi for det forsta fordonet A, samt lutningen a baserat pa positionen pi och topografidatat. According to one embodiment, the second vehicle B is equipped with a map unit with topography data and a positioning unit and a distance detector unit for measuring the distance between the first and the second vehicle A, B, the hill unit being configured to determine the position pi for the first vehicle A, and the slope a based on the position pi and topography data.

Enligt en ufforingsform är det f6rsta fordonet A utrustat med en forsta enhet f6r tradlos kommunikation och det andra fordonet B ãr forsett med en andra enhet fOr tradlos kommunikation. Pa sa satt kan fordonen tradlost utbyta information mellan varandra. According to one embodiment, the first vehicle A is equipped with a first unit for wireless communication and the second vehicle B is provided with a second unit for wireless communication. In this way, the vehicles can wirelessly exchange information between each other.

Enligt en uffOringsform är backenheten konfigurerad att bestamma cm det fi5rsta fordonet A fardas i en brant nedforsbacke baserat pa fordonsspecifik data fran det forsta fordonet A, varvid det fordonsspecifika datat innefattar nagot av en statusflagga, aktuellt utvaxlingsforhallande, aktuell fordonsvikt, motorns maxmomentkurva, nuvarande motoreffekt, mekanisk friktion och/eller fordonets kormotstand vid aktuell hastighet. According to one embodiment, the hill unit is configured to determine if the first vehicle A is traveling on a steep downhill slope based on vehicle-specific data from the first vehicle A, the vehicle-specific data including some of a status flag, current gear ratio, current vehicle weight, engine current curve, engine maximum mechanical friction and / or the vehicle's choke resistance at current speed.

Enligt en andra aspekt uppnas syftet atminstone delvis genom en metod for att reglera hastigheten pa ett fordon i ett avstandsreglerat fordonstag vid backtagning. Fordonstaget innefattar ett forsta fordon A och ett andra fordon B och det forsta fordonet A är ett direkt framforvarande fordon till det andra fordonet B. Metoden innefattar att: - bestamma ett accelerationsvarde al f6r det forsta fordonet A som beskriver hur mycket det forsta fordonet A accelererar; 537 992 - bestamma om det forsta fordonet A fardas i en brant nedforsbacke; - jamfora accelerationsvardet al med en accelerationskonstant ka, och om al > ka samt det f6rsta fordonet är i en brant nedforsbacke, sa innefattar metoden aft - begransa det andra fordonets formaga att 6ka sin hastighet. According to a second aspect, the object is achieved at least in part by a method for regulating the speed of a vehicle in a distance-controlled vehicle roof when reversing. The vehicle roof comprises a first vehicle A and a second vehicle B and the first vehicle A is a directly forward vehicle to the second vehicle B. The method comprises: - determining an acceleration value al for the first vehicle A which describes how much the first vehicle A accelerates ; 537 992 - determine whether the first vehicle A is traveling on a steep downhill slope; - compare the acceleration value al with an acceleration constant ka, and if al> ka and the first vehicle are on a steep downhill slope, then the method includes aft - limit the ability of the other vehicle to increase its speed.

Enligt en utforingsform innefattar metoden aft begransa det andra fordonets formaga aft aka sin hastighet genom aft infora en hastighetsbegransning, en momentbegransning och/eller en accelerationsbegransning. Accelerationsbegransning innebar har aft begransa motorns formaga aft accelerera. According to one embodiment, the method of limiting the shape of the other vehicle comprises its speed by introducing a speed limitation, a torque limitation and / or an acceleration limitation. Acceleration limitation meant having to limit the engine's ability to accelerate.

Enligt en utf6ringsform innefattar metoden aft begransa det andra fordonets hastighet v2 till ett konstant varde vk. Enligt en ufforingsform är det konstanta vardet vk är det andra fordonets nuvarande hastighet v2. Enligt en annan uffOringsform metoden aft begransa det andra fordonets hastighet v2 enligt en funktion av ett annat fordons hastighet i fordonstaget, exempelvis det forsta fordonets hastighet (d.v.s. det framforvarande fordonets hastighet). According to one embodiment, the method of limiting the speed v2 of the other vehicle to a constant value vk. According to one form of performance, the constant value vk is the current speed v2 of the other vehicle. According to another embodiment, the method of limiting the speed v2 of the second vehicle according to a function of the speed of another vehicle in the vehicle roof, for example the speed of the first vehicle (i.e. the speed of the vehicle in front).

Enligt en ufforingsform är det andra fordonet forsett med en detektorenhet for aft 20 detektera en relativ hastighet vrel mellan det andra fordonet B och det forsta fordonet A, varvid accelerationsvardet al bestams baserat pa den relativa hastigheten vrei. According to one embodiment, the second vehicle is provided with a detector unit for detecting a relative speed between the second vehicle B and the first vehicle A, the acceleration value being determined based on the relative speed.

Enligt en utforingsform innefattar aft bestamma om det forsta fordonet A fardas i 25 en brant nedforsbacke aft bestamma lutningen a pa vagen som det forsta fordonet A fardas pa. According to one embodiment, determining whether the first vehicle A travels on a steep downhill slope comprises determining the slope of the road on which the first vehicle A travels.

Enligt en utfOringsform är det andra fordonet B utrustat med en kartenhet med topografidata och en positioneringsenhet, samt en avstandsdetektorenhet for aft uppmata avstandet mellan det forsta och det andra fordonet A, B, varvid aft bestamma lutningen a innefattar aft bestamma positionen pi for det forsta fordonet A, samt lutningsvardet a baserat pa positionen pi och topografidatat. 6 According to one embodiment, the second vehicle B is equipped with a map unit with topography data and a positioning unit, and a distance detector unit for measuring the distance between the first and the second vehicle A, B, wherein determining the slope a comprises determining the position pi for the first vehicle A, and the slope value a based on the position pi and topography data. 6

Claims (22)

10 15 20 25 30 537 992 Patentkrav10 15 20 25 30 537 992 Patent claims 1. Styrenhet (2) för att reglera hastigheten på ett fordon i ett avståndsreglerat fordonståg vid backtagning, varvid fordonståget innefattar ett första fordon A och ett andra fordon B och det första fordonet A är ett direkt framförvarande fordon till det andra fordonet B, varvid styrenheten (2) är placerad i det andra fordonet B, k ä n n e t e c k n a d a v att styrenheten (2) vidare innefattar - en hastighetsenhet (3) som är konfigurerad att bestämma ett accelerationsvärde a1 för det första fordonet A som beskriver hur mycket det första fordonet A accelererar; - en backenhet (4) som är konfigurerad att bestämma om det första fordonet A färdas i en brant nedförsbacke; - en beräkningsenhet (5) som är konfigurerad att jämföra accelerationsvärdet a1 med en accelerationskonstant ka, och om a1 > ka samt det första fordonet är i en brant nedförsbacke, så är styrenheten (2) konfigurerad att generera en styrsignal sreg som anger en begränsning av det andra fordonets förmåga att öka sin hastighet, varvid det andra fordonets förmåga att öka sin hastighet begränsas i enlighet därmed.Control unit (2) for controlling the speed of a vehicle in a distance-controlled vehicle train during reversing, wherein the vehicle train comprises a first vehicle A and a second vehicle B and the first vehicle A is a vehicle directly in front of the second vehicle B, the control unit (2) is located in the second vehicle B, characterized in that the control unit (2) further comprises - a speed unit (3) configured to determine an acceleration value a1 of the first vehicle A which describes how much the first vehicle A accelerates; a hill unit (4) configured to determine if the first vehicle A is traveling on a steep downhill slope; a calculation unit (5) configured to compare the acceleration value a1 with an acceleration constant ka, and if a1> ka and the first vehicle are on a steep downhill slope, the control unit (2) is configured to generate a control signal sreg indicating a limitation of the ability of the other vehicle to increase its speed, the ability of the other vehicle to increase its speed being limited accordingly. 2. Styrenheten (2) enligt krav 1, varvid styrsignalen sæg innefattar en hastighetsbegränsning, en momentbegränsning och/eller en accelerationsbegränsning_The control unit (2) according to claim 1, wherein the control signal sæg comprises a speed limit, a torque limit and / or an acceleration limit_ 3. Styrenheten (2) enligt krav 1 eller 2, varvid styrsignalen sæg innefattar ett konstant värde vk på det andra fordonets hastighet V2.The control unit (2) according to claim 1 or 2, wherein the control signal sæg comprises a constant value vk at the speed V2 of the other vehicle. 4. Styrenheten (2) enligt krav 3, varvid det konstanta värdet vk är det andra fordonets nuvarande hastighet V2. 18 10 15 20 25 30 537 992The control unit (2) according to claim 3, wherein the constant value vk is the current speed V2 of the other vehicle. 18 10 15 20 25 30 537 992 5. Styrenheten (2) enligt något av föregående krav, varvid styrsignalen sfeg innefattar en funktion av ett annat fordons hastighet i fordonståget som begränsar det andra fordonets hastighet V2.The control unit (2) according to any one of the preceding claims, wherein the control signal sfeg comprises a function of another vehicle's speed in the vehicle train which limits the speed V2 of the other vehicle. 6. Styrenheten (2) enligt något av föregående krav, varvid det andra fordonet är försett med en detektorenhet (6) för att detektera en relativ hastighet vre. mellan det andra fordonet B och det första fordonet A, varvid hastighetsenheten (3) är konfigurerad att bestämma accelerationsvärdet a1 baserat på den relativa hastigheten vrei.The control unit (2) according to any one of the preceding claims, wherein the second vehicle is provided with a detector unit (6) for detecting a relative speed vre. between the second vehicle B and the first vehicle A, the speed unit (3) being configured to determine the acceleration value a1 based on the relative speed vrei. 7. Styrenheten (2) enligt något av föregående krav, varvid backenheten (4) är konfigurerad att bestämma lutningen o på vägen som det första fordonet A färdas pà, och bestämma om det första fordonet A färdas i en brant nedförsbacke baserat på lutningen d.The control unit (2) according to any one of the preceding claims, wherein the hill unit (4) is configured to determine the slope o on the road on which the first vehicle A travels, and to determine whether the first vehicle A travels on a steep downhill based on the slope d. 8. Styrenheten (2) enligt krav 7, varvid det andra fordonet B är utrustat med en kartenhet (7) med topografidata och en positioneringsenhet (8), samt en avståndsdetektorenhet (9) för att uppmäta avståndet mellan det första och det andra fordonet A, B, varvid backenheten (4) är konfigurerad att bestämma positionen p1 för det första fordonet A, samt lutningen oi baserat på positionen p1 och topografidatat.The control unit (2) according to claim 7, wherein the second vehicle B is equipped with a map unit (7) with topography data and a positioning unit (8), and a distance detector unit (9) for measuring the distance between the first and the second vehicle A , B, wherein the hill unit (4) is configured to determine the position p1 of the first vehicle A, and the slope oi based on the position p1 and the topography data. 9. Styrenheten (2) enligt något av föregående krav, varvid det första fordonet A är utrustat med en första enhet (10) för trådlös kommunikation och det andra fordonet B ärförsett med en andra enhet (11)förtrådlös kommunikation.The control unit (2) according to any one of the preceding claims, wherein the first vehicle A is equipped with a first unit (10) for wireless communication and the second vehicle B is provided with a second unit (11) wireless communication. 10. Styrenheten (2) enligt något av föregående krav, varvid backenheten (4) är konfigurerad att bestämma om det första fordonet A färdas i en brant nedförsbacke baserat på fordonsspecifik data från det första fordonet A, varvid det fordonsspecifika datat innefattar något av en statusflagga, aktuellt utväxlingsförhållande, aktuell fordonsvikt, motorns maxmomentkurva, nuvarande 19 10 15 20 25 30 537 992 motoreffekt, mekanisk friktion och/eller fordonets körmotstånd vid aktuell hastighet.The control unit (2) according to any one of the preceding claims, wherein the hill unit (4) is configured to determine whether the first vehicle A travels on a steep descent based on vehicle-specific data from the first vehicle A, the vehicle-specific data comprising any of a status flag , current gear ratio, current vehicle weight, engine maximum torque curve, current 19 10 15 20 25 30 537 992 engine power, mechanical friction and / or the vehicle's driving resistance at current speed. 11. Metod för att reglera hastigheten på ett fordon i ett avståndsreglerat fordonståg vid backtagning, varvid fordonståget innefattar ett första fordon A och ett andra fordon B och det första fordonet A är ett direkt framförvarande fordon till det andra fordonet B, varvid metoden innefattar att: - bestämma ett accelerationsvärde a1 för det första fordonet A som beskriver hur mycket det första fordonet A accelererar; - bestämma om det första fordonet A färdas i en brant nedförsbacke; -jämföra accelerationsvärdet a1 med en accelerationskonstant ka, och om a1 > ka samt det första fordonet är i en brant nedförsbacke, så innefattar metoden att - begränsa det andra fordonets förmåga att öka sin hastighet.A method of controlling the speed of a vehicle in a remotely controlled vehicle train when reversing, wherein the vehicle train comprises a first vehicle A and a second vehicle B and the first vehicle A is a vehicle directly in front of the second vehicle B, the method comprising: - determining an acceleration value a1 for the first vehicle A which describes how much the first vehicle A accelerates; - determining whether the first vehicle A is traveling on a steep downhill slope; -compare the acceleration value a1 with an acceleration constant ka, and if a1> ka and the first vehicle are on a steep downhill slope, the method includes - limiting the ability of the second vehicle to increase its speed. 12. Metoden enligt krav 11, som innefattar att begränsa det andra fordonets förmåga att öka sin hastighet genom att införa en hastighetsbegränsning, en momentbegränsning och/eller en accelerationsbegränsning.The method of claim 11, comprising limiting the ability of the other vehicle to increase its speed by introducing a speed limit, a torque limit and / or an acceleration limit. 13. Metoden enligt krav 11 eller 12, som innefattar att begränsa det andra fordonets hastighet V2 till ett konstant värde vk.The method of claim 11 or 12, comprising limiting the speed V2 of the other vehicle to a constant value vk. 14. Metoden enligt krav 13, varvid det konstanta värdet vk är det andra fordonets nuvarande hastighet V2.The method of claim 13, wherein the constant value vk is the current speed V2 of the other vehicle. 15. Metoden enligt något av kraven 11 till 14, som innefattar att begränsa det andra fordonets hastighet V2 enligt en funktion av ett annat fordons hastighet i fordonståget.The method according to any one of claims 11 to 14, comprising limiting the speed V2 of the other vehicle according to a function of the speed of another vehicle in the vehicle train. 16. Metoden enligt något av kraven 11 till 15, varvid det andra fordonet är försett med en detektorenhet (6) för att detektera en relativ hastighet væ. mellan 20 10 15 20 25 30 537 992 det andra fordonet B och det första fordonet A, varvid accelerationsvärdet a1 bestäms baserat på den relativa hastigheten vre..The method according to any one of claims 11 to 15, wherein the second vehicle is provided with a detector unit (6) for detecting a relative speed væ. between the second vehicle B and the first vehicle A, the acceleration value a1 being determined based on the relative speed vre. 17. Metoden enligt något av kraven 11 till 16, varvid att bestämma om det första fordonet A färdas i en brant nedförsbacke innefattar att bestämma lutningen a på vägen som det första fordonet A färdas på.The method of any of claims 11 to 16, wherein determining whether the first vehicle A is traveling on a steep downhill slope comprises determining the slope a of the road on which the first vehicle A is traveling. 18. Metoden enligt krav 17, varvid det andra fordonet B är utrustat med en kartenhet (7) med topografidata och en positioneringsenhet (8), samt en avståndsdetektorenhet (9) för att uppmäta avståndet mellan det första och det andra fordonet A, B, varvid att bestämma lutningen d innefattar att bestämma positionen p1 för det första fordonet A, samt lutningsvärdet d baserat på positionen p1 och topografidatat.The method according to claim 17, wherein the second vehicle B is equipped with a map unit (7) with topography data and a positioning unit (8), and a distance detector unit (9) for measuring the distance between the first and the second vehicle A, B, wherein determining the slope d comprises determining the position p1 of the first vehicle A, and the slope value d based on the position p1 and the topography data. 19. Metoden enligt något av kraven 11 till 18, varvid det första fordonet A är utrustat med en första enhet (10) för trådlös kommunikation och det andra fordonet är försett med en andra enhet (11) för trådlös kommunikation.The method according to any one of claims 11 to 18, wherein the first vehicle A is equipped with a first unit (10) for wireless communication and the second vehicle is provided with a second unit (11) for wireless communication. 20. Metoden enligt något av kraven 11 till 19, varvid att bestämma om det första fordonet A färdas i en brant nedförsbacke baserat på fordonsspecifik data från det första fordonet A, varvid det fordonsspeci?ka datat innefattar något av en statusflagga, aktuellt utväxlingsförhållande, aktuell fordonsvikt, motorns maxmomentkurva, nuvarande motoreffekt, mekanisk friktion och/eller fordonets körmotstånd vid aktuell hastighet.The method according to any one of claims 11 to 19, wherein determining whether the first vehicle A is traveling on a steep downhill based on vehicle-specific data from the first vehicle A, wherein the vehicle-specific data comprises something of a status flag, current gear ratio, current vehicle weight, engine maximum torque curve, current engine power, mechanical friction and / or vehicle resistance at current speed. 21. Datorprogram P, där nämnda datorprogram P innefattar programkod för att orsaka en styrenhet (2), eller annan dator ansluten till styrenheten (2), att utföra stegen enligt något av patentkraven 11-20.Computer program P, wherein said computer program P comprises program code for causing a control unit (2), or other computer connected to the control unit (2), to perform the steps according to any one of claims 11-20. 22. Datorprogramprodukt innefattande en programkod lagrad på ett av en dator läsbart icke-flyktigt medium för att utföra metodstegen enligt något av 21 537 992 patentkraven 11-20, när nämnda programkod körs på styrenheten (2) eller annan dator ansluten till styrenheten (2). 22A computer program product comprising a program code stored on a computer readable non-volatile medium for performing the method steps of any of 21,537,992 claims 11-20, when said program code is executed on the controller (2) or other computer connected to the controller (2). . 22
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