The present invention relates to a method of controlling an autonomous diesel-engine vehicle, a computer program, a computer-readable medium and a vehicle. The method includes determining (501), using an adaptive model (109) of the autonomous vehicle that adaptively adjusts model parameters while the autonomous vehicle is in operation, an available engine brake torque for reducing a current speed of the autonomous vehicle to a lower speed, and selecting (503) a brake mode corresponding to the available engine brake torque and a rate of speed reduction, wherein, in case that the rate of speed reduction is equal to or smaller than a threshold, the brake mode is an engine brake in which engine exhaust valve opening is adjusted to generate a brake torque for reducing the current speed, the threshold determined in part based on the available engine brake torque, and wherein the brake mode is a combination of the engine brake and a foundation brake in case the rate of speed reduction is greater than the threshold.
METHOD FOR ADAPTIVE BRAKE MODE SELECTION, COMPUTER PROGRAM, COMPUTER-READABLE MEDIUM AND AUTONOMOUS VEHICLE
VERFAHREN ZUR ADAPTIVEN BREMSMODUSAUSWAHL, COMPUTERPROGRAMM, DATENSPEICHERELEMENT SOWIE AUTONOMES FAHRZEUG
PROCÉDÉ DE SÉLECTION DE MODE DE FREINAGE ADAPTATIF, PROGRAMME ET MOYEN DE STOCKAGE INFORMATIQUE, AINSI QUE VÉHICULE AUTONOME
2021-07-28
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / F02D CONTROLLING COMBUSTION ENGINES , Steuern oder Regeln von Brennkraftmaschinen |
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