VEHICLE CONTROL METHOD AND APPARATUS

The present disclosure relates to a method of generating a target operational speed band (53; 63; 67) for a host vehicle (1) travelling along a route. A first time-dependent obstacle (15-n, 18-n) is identified at a first location on the route. The first time-dependent obstacle (15-n, 18-n) is identified as hindering progress of the host vehicle (1) during a first time period (I1). The first time-dependent obstacle (15-n, 18-n) is defined in a two-dimensional speed against distance map (50, 60). A first speed trajectory (51, 52; 61; 65, 66) is determined from a first point to a second point within the two-dimensional speed against distance map (50, 60). The second point represents the first location on the route and the determined first speed trajectory (51, 52; 61; 65, 66) represents the host vehicle (1) arriving at the first location at a first arrival time. The target operational speed band (53; 63; 67) is determined such that the first speed trajectory (51, 52; 61; 65, 66) forms one of an upper limit and a lower limit of the target operational speed band (53; 63; 67). The first arrival time is outside said first time period (I1). The present disclosure also relates to a controller (2) for generating a target operational speed band (53; 63; 67); and to a vehicle (1).