Control systems and methods using parametric driver model

Patent metadata

Field	Value
Publication number	US-11548527-B2
Application number	US-202016884198-A
Country	US
Kind code	B2
Filing date	May 27, 2020
Priority date	May 27, 2020
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

A control system of a vehicle includes: a target speed module configured to, using a parametric driver model and based on first driver parameters, second driver parameters, and vehicle parameters, determine a target vehicle speed trajectory for a future predetermined period; a driver parameters module configured to determine the first driver parameters based on conditions within a predetermined distance in front of the vehicle; and a control module configured to adjust at least one actuator of the vehicle based on the target vehicle speed trajectory and a present vehicle speed.

First claim

What is claimed is:

1. A control system of a vehicle comprising:
a target speed module configured to, using a parametric driver model and based on first driver parameters, second driver parameters, and vehicle parameters, determine a target vehicle speed trajectory for a future predetermined period;
a driver parameters module configured to determine the first driver parameters based on conditions within a predetermined distance in front of the vehicle; and
a control module configured to adjust at least one actuator of the vehicle based on the target vehicle speed trajectory and a present vehicle speed,
wherein the second driver parameters are predetermined fixed values stored in memory and are selected based on at least one of the conditions and a driver preference.

2. The control system of claim 1 further comprising:
a camera configured to capture images within a field of view (FOV) in front of the vehicle,
wherein the driver parameters module is configured to determine the first driver parameters based on at least one image captured by the camera.

3. The control system of claim 1 further comprising a conditions module configured to obtain at least one of the conditions wirelessly from a data source that is remote from the vehicle.

4. The control system of claim 1 wherein the conditions include a speed limit of a road within the predetermined distance in front of the vehicle.

5. The control system of claim 1 wherein the conditions include a grade of a road within the predetermined distance in front of the vehicle.

6. The control system of claim 1 wherein the conditions include a curvature of a road within the predetermined distance in front of the vehicle.

7. The control system of claim 1 wherein the conditions include one of a location of a traffic signal within the predetermined distance in front of the vehicle and a distance between the vehicle and the traffic signal.

8. The control system of claim 1 wherein the conditions include a speed of a vehicle within the predetermined distance in front of the vehicle.

9. The control system of claim 1 wherein the conditions include a distance between the vehicle and a vehicle within the predetermined distance in front of the vehicle.

10. The control system of claim 1 wherein the conditions include:
a speed limit of a road within the predetermined distance in front of the vehicle;
a grade of a road within the predetermined distance in front of the vehicle;
a curvature of a road within the predetermined distance in front of the vehicle;
one of a location of a traffic signal within the predetermined distance in front of the vehicle and a distance between the vehicle and the traffic signal;
a speed of another vehicle within the predetermined distance in front of the vehicle; and
a distance between the vehicle and the other vehicle within the predetermined distance in front of the vehicle.

11. The control system of claim 1 wherein the vehicle parameters include a mass of the vehicle.

12. The control system of claim 1 wherein the vehicle parameters include a present gear ratio of a transmission of the vehicle.

13. The control system of claim 1 wherein the vehicle parameters include torque limits of the vehicle.

14. The control system of claim 1 wherein the vehicle parameters include acceleration limits of the vehicle.

15. The control system of claim 1 wherein:
the driver parameters module is configured to determine possible sets of the first driver parameters based on the conditions within the predetermined distance in front of the vehicle; and
the target speed module is configured to:
determine cost values for the possible sets based on the possible sets, respectively;
select one of the possible sets having a lowest cost value; and
using the parametric driver model, based on the selected one of the possible sets of first driver parameters, the second driver parameters, and the vehicle parameters, determine the target vehicle speed trajectory for the future predetermined period.

16. The control system of claim 1 wherein the predetermined period is greater than zero seconds.

17. The control system of claim 1 wherein the control module is configured to, based on the present vehicle speed and the target vehicle speed trajectory, selectively adjust at least one of:
opening of a throttle valve;
fuel injection to an engine; and
spark timing of the engine.

18. A control method for a vehicle, comprising:
using a parametric driver model and based on first driver parameters, second driver parameters, and vehicle parameters, determining a target vehicle speed trajectory for a future predetermined period;
determining the first driver parameters based on conditions within a predetermined distance in front of the vehicle; and
adjusting at least one actuator of the vehicle based on the target vehicle speed trajectory and a present vehicle speed,
wherein the second driver parameters are predetermined fixed values stored in memory and are selected based on at least one of the conditions and a driver preference.

19. A control system of a vehicle comprising:
a target speed module configured to, using a parametric driver model and based on first driver parameters, second driver parameters, and vehicle parameters, determine a target vehicle speed trajectory for a future predetermined period;
a driver parameters module configured to determine the first driver parameters based on conditions within a predetermined distance in front of the vehicle; and
a control module configured to adjust at least one actuator of the vehicle based on the target vehicle speed trajectory and a present vehicle speed.

Assignees

• Gm Global Tech Operations Llc
• Univ Carnegie Mellon

Inventors

• Hegde Bharatkumar
• Zhao Junfeng
• Jan Lung En
• Chang Chen-Fang
• Rajkumar Ragunathan

Classifications

• B60W2720/103

  Speed profile · CPC title

• B60W2710/0627

  Fuel flow rate · CPC title

• B60W30/162

  Speed limiting therefor · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• F02D9/08

  Throttle valves specially adapted therefor; Arrangements of such valves in conduits · CPC title