Vehicle overspeed avoidance based on map
In one embodiment, driving faster than a speed limit can be avoided. In response to a current speed being greater than a local speed limit of the vehicle, a vehicle can determine a current vehicle pitch and determine a compensation acceleration to maintain constant velocity of the vehicle at the current vehicle pitch. A threshold control command is determined based on the current speed of the vehicle, and the compensation acceleration. The threshold control command determines whether the vehicle will accelerate or decelerate given the current vehicle pitch of the vehicle. If a driver's control command is greater than the threshold control command, the driver's control command can be overridden or modified to reduce the current speed of the vehicle.
1. A computer-implemented method for operating a vehicle, the method comprising:
in response to a first control command received from a driver of the vehicle,
determining a local speed limit;
in response to a current speed of the vehicle being greater than the local speed limit,
determining a current vehicle pitch of the vehicle;
determining a compensation acceleration to maintain constant velocity of the vehicle at the current vehicle pitch;
determining, based on the current speed of the vehicle and the compensation acceleration, a threshold control command that determines whether the vehicle will accelerate or decelerate given the current vehicle pitch of the vehicle; and
overriding the first control command with a second control command generated based on the threshold control command, if the first control command is greater than the threshold control command, to reduce the current speed of the vehicle.
2. The method of claim 1 , wherein determining the local speed limit includes
determining a current location of the vehicle; and
referencing map information or a table to look up the local speed limit with the current location of the vehicle.
3. The method of claim 2 , wherein the current location of the vehicle is determined based on a global positioning satellite (GPS) system.
4. The method of claim 1 , wherein determining the threshold control command includes referencing a calibration table having a plurality of entries, each entry having a) a vehicle speed, b) a control command, and c) a resulting vehicle acceleration, with the current speed of the vehicle and the compensation acceleration to extract the threshold control command.
5. The method of claim 4 , wherein data of the calibration table is determined based on past test data or simulated test data.
6. The method of claim 1 , wherein the second control command is less than or equal to the threshold control command.
7. The method of claim 1 , wherein the compensation acceleration at the current vehicle pitch is an inversion of an acceleration of the vehicle calculated based on gravity and the current vehicle pitch.
8. The method of claim 1 , wherein determining the current vehicle pitch of the vehicle includes sensing pitch of the vehicle with an inertial measurement unit.
9. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating a vehicle, the operations comprising:
in response to a first control command received from a driver of the vehicle,
determining a local speed limit;
in response to a current speed of the vehicle being greater than the local speed limit,
determining a current vehicle pitch of the vehicle;
determining a compensation acceleration to maintain constant velocity of the vehicle at the current vehicle pitch;
determining, based on the current speed of the vehicle and the compensation acceleration, a threshold control command that determines whether the vehicle will accelerate or decelerate given the current vehicle pitch of the vehicle; and
overriding the first control command with a second control command generated based on the threshold control command, if the first control command is greater than the threshold control command, to reduce the current speed of the vehicle.
10. The non-transitory machine-readable medium of claim 9 , wherein the second control command is one of the following: a throttle command, an acceleration pedal position, an acceleration command, or a numeric value representation thereof.
11. The non-transitory machine-readable medium of claim 9 , wherein the second control command is communicated to a power train of the vehicle over CAN bus.
12. The non-transitory machine-readable medium of claim 9 , wherein determining the threshold control command includes referencing a calibration table having a plurality of entries, each entry having a) a vehicle speed, b) a control command, and c) a resulting vehicle acceleration, with the current speed of the vehicle and the compensation acceleration to extract the threshold control command.
13. The non-transitory machine-readable medium of claim 12 , wherein data of the calibration table is determined based on past test data or simulated test data.
14. The non-transitory machine-readable medium of claim 9 , wherein the second control command is less than or equal to the threshold control command.
15. The non-transitory machine-readable medium of claim 9 , wherein the compensation acceleration at the current vehicle pitch is an inversion of an acceleration of the vehicle calculated based on gravity and the current vehicle pitch.
16. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of operating a vehicle, the operations including
in response to a first control command received from a driver of the vehicle,
determining a local speed limit;
in response to a current speed of the vehicle being greater than the local speed limit,
determining a current vehicle pitch of the vehicle;
determining a compensation acceleration to maintain constant velocity of the vehicle at the current vehicle pitch;
determining, based on the current speed of the vehicle and the compensation acceleration, a threshold control command that determines whether the vehicle will accelerate or decelerate given the current vehicle pitch of the vehicle; and
overriding the first control command with a second control command generated based on the threshold control command, if the first control command is greater than the threshold control command, to reduce the current speed of the vehicle.
17. The data processing system of claim 16 , wherein determining the threshold control command includes referencing a calibration table having a plurality of entries, each entry having a) a vehicle speed, b) a control command, and c) a resulting vehicle acceleration, with the current speed of the vehicle and the compensation acceleration to extract the threshold control command.
18. The data processing system of claim 17 , wherein data of the calibration table is determined based on past test data or simulated test data.
19. The data processing system of claim 16 , wherein the second control command is less than or equal to the threshold control command.
20. The data processing system of claim 16 , wherein the compensation acceleration is an inversion of an acceleration of the vehicle calculated based on gravity and the current vehicle pitch.