MPC-based autonomous drive function of a motor vehicle

Patent metadata

Field	Value
Publication number	US-12195014-B2
Application number	US-201917786242-A
Country	US
Kind code	B2
Filing date	Dec 17, 2019
Priority date	Dec 17, 2019
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

A processor unit is configured for determining target torque values ( 21 ), which lie within a prediction horizon ( 20 ), and target speed values ( 19 ), which lie within the prediction horizon ( 20 ), by executing an MPC algorithm, which includes a longitudinal dynamics model of a drive train of the motor vehicle. An autonomous driving function of the motor vehicle is carried out in a torque specification operating mode or in a speed specification operating mode as a function of the level of the target torque values ( 21 ). In the torque specification operating mode, a prime mover of the drive train is controlled by an open-loop system based on the target torque values ( 21 ). In the speed specification operating mode, a speed governor of the drive train is controlled by an open-loop system based on the target speed values ( 19 ).

First claim

The invention claimed is:

1. A processor unit ( 3 ) for executing an autonomous driving function of a motor vehicle ( 1 ) by model predictive control, wherein the processor unit ( 3 ), by executing an MPC algorithm ( 13 ), which includes a longitudinal dynamics model ( 14 ) of a drive train ( 7 ) of the motor vehicle ( 1 ), is configured for:
determining target torque values ( 21 ) lying within a prediction horizon ( 20 );
determining target speed values ( 19 ) lying within the prediction horizon ( 20 );
as a function of a level of the target torque values ( 21 ), selecting a torque specification operating mode for autonomous driving of the motor vehicle ( 1 ) when the target torque value ( 21 ) assumes a positive value and a speed specification operating mode for autonomous driving of the motor vehicle ( 1 ) when the target torque value ( 21 ) assumes a negative value; and
carrying out an autonomous driving function of the motor vehicle ( 1 ) in the torque specification operating mode or in the speed specification operating mode,
wherein, in the torque specification operating mode, a prime mover ( 8 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target torque values ( 21 ),
wherein, in the speed specification operating mode, a speed governor ( 18 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target speed values ( 19 ), and
wherein the prime mover ( 8 ) comprises an electric machine ( 8 ).

2. The processor unit ( 3 ) of claim 1 , wherein the processor unit ( 3 ) is configured for carrying out the autonomous driving function exclusively in the speed specification operating mode when a target torque value ( 21 ) assumes a negative value by executing the MPC algorithm ( 13 ).

3. The processor unit ( 3 ) of claim 1 , wherein:
the processor unit ( 3 ) is configured for changing over from the torque specification operating mode into the speed specification operating mode at a first point in time (t 1 ) by executing the MPC algorithm ( 13 );
a first target torque value ( 23 ) assumes the value zero at the first point in time (t 1 ); and
a second target torque value ( 24 ) assumes a negative value at a second point in time ( 12 ) immediately following the first point in time ( 11 ).

4. The processor unit ( 3 ) of claim 1 , wherein:
the processor unit ( 3 ) is configured for changing over from the speed specification operating mode into the torque specification operating mode at a third point in time (t 3 ) by executing the MPC algorithm ( 13 );
a third target torque value ( 26 ) assumes the value zero at the third point in time (t 3 ); and
a fourth target torque value ( 27 ) assumes a positive value at a fourth point in time (t 4 ) immediately following the third point in time (t 3 ).

5. A motor vehicle ( 3 ) comprising:
the processor unit ( 3 ) of claim 1 ;
the prime mover ( 8 );
the speed governor ( 18 ); and
a driver assistance system ( 16 ) configured for
accessing target torque values ( 21 ) and target speed values ( 19 ) by a communication interface ( 8 ), wherein the target torque values ( 21 ) and the target speed values ( 19 ) have been determined by the processor unit ( 3 ),
in the torque specification operating mode, controlling the prime mover ( 8 ) by the open-loop system based on the target torque values ( 21 ),
in the speed specification operating mode, controlling the speed governor ( 18 ) by the open-loop system based on the target speed values ( 19 ), and
carrying out an autonomous driving function of the motor vehicle ( 1 ) as a function of the level of the target torque values ( 21 ) in the torque specification operating mode or in the speed specification operating mode.

6. The processor unit ( 3 ) of claim 1 , wherein the autonomous driving function is configured to operate the vehicle ( 1 ) for autonomous travel without a vehicle occupant controlling the vehicle ( 1 ) or to assist the occupant with one or more of steering, turn-signaling, acceleration, and braking of the vehicle ( 1 ).

7. A processor unit ( 3 ) for executing an autonomous driving function of a motor vehicle ( 1 ) by model predictive control, wherein the processor unit ( 3 ), by executing an MPC algorithm ( 13 ), which includes a longitudinal dynamics model ( 14 ) of a drive train ( 7 ) of the motor vehicle ( 1 ), is configured for:
determining target torque values ( 21 ) lying within a prediction horizon ( 20 );
determining target speed values ( 19 ) lying within the prediction horizon ( 20 ); and
as a function of a level of the target torque values ( 21 ), carrying out an autonomous driving function of the motor vehicle ( 1 ) in a torque specification operating mode or in a speed specification operating mode,
wherein, in the torque specification operating mode, a prime mover ( 8 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target torque values ( 21 ),
wherein, in the speed specification operating mode, a speed governor ( 18 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target speed values ( 19 ),
wherein the prime mover ( 8 ) comprises an electric machine ( 8 ),
wherein the MPC algorithm ( 13 ) comprises a cost function ( 15 ) to be minimized,
wherein the cost function ( 15 ) comprises, as a first term, an electrical energy weighted with a first weighting factor and predicted according to the longitudinal dynamics model ( 14 ), which is provided within the prediction horizon by a battery ( 9 ) of the drive train ( 7 ) for driving the electric machine ( 8 ),
wherein the cost function ( 15 ) comprises, as a second term, a driving time weighted with a second weighting factor and predicted according to the longitudinal dynamics model ( 14 ), which the motor vehicle ( 1 ) requires in order to cover an entire distance predicted within the prediction horizon, and
wherein the processor unit ( 3 ) is configured for determining an input variable for the electric machine ( 8 ) by executing the MPC algorithm ( 13 ) as a function of the first term and as a function of the second term such that the cost function is minimized.

8. A method for carrying out an autonomous driving function of a motor vehicle ( 1 ) by model predictive control, the method comprising:
determining target torque values ( 21 ) lying within a prediction horizon by executing an MPC algorithm ( 13 ) that includes a longitudinal dynamics model ( 14 ) of a drive train ( 7 ) of the motor vehicle ( 1 );
determining target speed values ( 19 ) lying within the prediction horizon ( 20 ) by executing the MPC algorithm ( 13 );
as a function of a level of the target torque values ( 21 ), selecting a torque specification operating mode for autonomous driving of the motor vehicle ( 1 ) when the target torque value ( 21 ) assumes a positive value and a speed specification operating mode for autonomous driving of the motor vehicle ( 1 ) when the target torque value ( 21 ) assumes a negative value; and
implementing an autonomous driving function of the motor vehicle ( 1 ) in the torque specification operating mode or in the speed specification operating mode,
wherein, in the torque specification operating mode, a prime mover ( 8 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target torque values ( 21 ),
wherein, in the speed specification operating mode, a speed governor ( 18 ) of the drive train ( 7 ) is controlled by an open-loop system based on the target speed values ( 19 ), and
wherein the prime mover ( 8 ) comprises an electric machine ( 8 ).

9. A non-transitory computer program product ( 11 ) for executing an autonomous driving function of a motor vehicle ( 1 ) by model predictive control, the computer program

Assignees

• Zahnradfabrik Friedrichshafen

Inventors

• Wendzel Andreas
• Mindel Tobias

Classifications

• B60W2720/10

  Longitudinal speed · CPC title

• B60W2710/083

  Torque · CPC title

• B60W2050/0037

  Mathematical models of vehicle sub-units · CPC title

• B60W2050/0022

  Gains, weighting coefficients or weighting functions · CPC title

• B60W2050/0012

  Feedforward or open loop systems · CPC title