Method and assistance system for controlling a technical system

Patent metadata

Field	Value
Publication number	US-10857997-B2
Application number	US-201615746060-A
Country	US
Kind code	B2
Filing date	Jul 5, 2016
Priority date	Jul 21, 2015
Publication date	Dec 8, 2020
Grant date	Dec 8, 2020

Abstract

In order to control a technical system, a user control variable is read in and a plurality of control variable variants of the user control variable are generated. A respective trajectory of the technical system is extrapolated for the user control variable and for the control variable variants, for which a respective reliability is evaluated. Furthermore, a respective distance of each control variable variant to the user control variable is determined. The user control variable is then selected as a control signal for the technical system in the event that the trajectory extrapolated for the user control variable is evaluated as reliable. Otherwise, a control variable variant with an extrapolated trajectory evaluated as reliable is selected from the control variable variants as a control signal, wherein a control variable variant with a low distance is preferably selected. Finally, the control signal for controlling the technical system is emitted.

First claim

The invention claimed is:

1. A method for controlling a technical system with residual user control, comprising:
a) reading in, by an assistance system having a processor, a user manipulated variable for controlling the technical system,
b) generating, by the assistance system, a multiplicity of manipulated variable variants of the user manipulated variable,
c) extrapolating, by the assistance system, a respective trajectory of the technical system for controlling the technical system by the user manipulated variable and for control by a respective manipulated variable variant, respectively,
d) assessing, by the assistance system, a permissibility of the extrapolated trajectories,
e) determining, by the assistance system, a respective distance between a respective manipulated variable variant and the user manipulated variable,
f) selecting, by the assistance system, the user manipulated variable as the control signal if the trajectory extrapolated for the user manipulated variable is assessed to be permissible, and otherwise selecting a manipulated variable variant from the manipulated variable variants with an extrapolated trajectory assessed to be permissible as the control signal, wherein a manipulated variable variant with a shorter distance is preferably selected,
g) outputting, by the assistance system, the control signal, and
h) controlling the technical system according to the control signal.

2. The method as claimed in claim 1 , wherein a manipulated variable variant with a minimum distance is selected from the manipulated variable variants with an extrapolated trajectory assessed to be permissible as the control signal.

3. The method as claimed in claim 1 , wherein a predefined distance metric is used to determine the distance between a manipulated variable variant and the user manipulated variable.

4. The method as claimed in claim 3 , wherein the manipulated variable variants are generated in a range around the user manipulated variable determined by the distance metric.

5. The method as claimed in claim 4 , wherein the manipulated variable variants are selected within the predefined range by a random process.

6. The method as claimed in claim 1 , wherein time-dependent functions are generated as manipulated variable variants.

7. The method as claimed in claim 1 , wherein the manipulated variable variants are selected from a database containing frequent control patterns.

8. The method as claimed in claim 1 , wherein a number of the manipulated variable variants to be generated is determined on the basis of a currently available computing power.

9. The method as claimed in claim 1 , wherein the generation of the manipulated variable variants, the temporal extrapolation of the trajectories, the assessment of the permissibility of the trajectories, the determination of the distances and/or the selection of the control signal are carried out continuously.

10. The method as claimed in claim 1 , wherein the trajectories are extrapolated on the basis of a system model of the technical system.

11. The method as claimed in claim 1 , further comprising:
recording an operating parameter and/or an environmental parameter of the technical system,
wherein the trajectories are extrapolated on the basis of the recorded operating parameter and/or environmental parameter.

12. The method as claimed in claim 1 , wherein a respective trajectory is extrapolated up to an extrapolation limit which is dynamically determined on the basis of a recorded operating parameter and/or environmental parameter.

13. The method as claimed in claim 12 , wherein the extrapolation limit is determined in such a manner that the technical system can be controlled into a safe system state within the extrapolation limit.

14. A computer program product, comprising:
a computer readable hardware storage device, and
a computer readable program code stored therein, said program code executable by a processor of an assistance system to implement a method for controlling a technical system with residual user control, the method comprising:
reading in a user manipulated variable for controlling the technical system,
generating a multiplicity of manipulated variable variants of the user manipulated variable,
extrapolating a respective trajectory of the technical system for controlling the technical system by the user manipulated variable and for control by a respective manipulated variable variant, respectively,
assessing a permissibility of the extrapolated trajectories,
determining a respective distance between a respective manipulated variable variant and the user manipulated variable,
selecting the user manipulated variable as the control signal if the trajectory extrapolated for the user manipulated variable is assessed to be permissible, and otherwise selecting a manipulated variable variant from the manipulated variable variants with an extrapolated trajectory assessed to be permissible as the control signal, wherein a manipulated variable variant with a shorter distance is preferably selected,
outputting the control signal, and
controlling the technical system according to the control signal.

15. An assistance system, comprising:
a processor;
a memory coupled to the processor; and
a computer readable hardware storage device containing program code executable by a the processor to implement a method for controlling a technical system with residual user control, the method comprising:
reading in a user manipulated variable for controlling the technical system,
generating a multiplicity of manipulated variable variants of the user manipulated variable,
extrapolating a respective trajectory of the technical system for controlling the technical system by the user manipulated variable and for control by a respective manipulated variable variant, respectively,
assessing a permissibility of the extrapolated trajectories,
determining a respective distance between a respective manipulated variable variant and the user manipulated variable,
selecting the user manipulated variable as the control signal if the trajectory extrapolated for the user manipulated variable is assessed to be permissible, and otherwise selecting a manipulated variable variant from the manipulated variable variants with an extrapolated trajectory assessed to be permissible as the control signal, wherein a manipulated variable variant with a shorter distance is preferably selected,
outputting the control signal, and
controlling the technical system according to the control signal.

Assignees

• Siemens Ag

Inventors

• Eidenberger Robert
• Neubauer Werner

Classifications

• B62D15/0265

  Automatic obstacle avoidance by steering · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2540/18

  Steering angle · CPC title

• G05B7/02

  electric · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title