Adaptive vehicle control

Patent metadata

Field	Value
Publication number	US-2017330395-A1
Application number	US-201615154166-A
Country	US
Kind code	A1
Filing date	May 13, 2016
Priority date	May 13, 2016
Publication date	Nov 16, 2017
Grant date	—

Abstract

A controller includes a processor programmed to determine, for a vehicle, a first control input based on input data and first reference parameters. The processor is further programmed to operate the vehicle according to the first control input. Based on operating data of the vehicle for an operating condition, the processor determines a second control input for the vehicle. Operating the vehicle according to the second control input reduces a cost of operating the vehicle relative to operating the vehicle according to the first control input. The processor is further programmed to determine, based on the second control input, second reference parameters. The controller generates a third control input based on the second reference parameters and the input data. A cost of operating the vehicle according to the third control input is reduced relative to the cost of operating the vehicle based on the first control input.

First claim

1 . A system comprising:
a controller including a processor and a memory, the memory storing instructions executable by the processor such that the processor is programmed to: determine, for a vehicle, a first control input for the vehicle based in part on input data and one or more first reference parameters; operate the vehicle according to the first control input; determine, based in part on operating data of the vehicle for an operating condition, a second control input for the vehicle, such that a cost of operating the vehicle according to the second control input is reduced relative to the cost of operating the vehicle based on the first control input; determine, based on the second control input, one or more second reference parameters, to generate, based at least in part on the input data and the one or more second reference parameters, a third control input, wherein a cost of operating the vehicle according to the third control input is reduced relative to the cost of operating the vehicle based on the first control input.

2 . The system of claim 1 , wherein the processor is further programmed to:
generate, based on the input data and the operating data, a state space model of the vehicle; determine, for the operating condition of the vehicle, an estimated state of the state space model; and, take into account the estimated state for the operating condition for determining the second control input.

3 . The system of claim 2 , wherein the processor is further programmed to:
generate a dynamic model for the vehicle; estimate a set of parameters correlating individual inputs of the model to the output of the model for the operating condition; and take into account the set of parameters correlating individual inputs of the model to the output of the model for determining the second control input.

4 . The system of claim 3 , wherein the dynamic model is an auto-regressive moving average model.

5 . The system of claim 4 , wherein the processor is further programmed to:
apply a regularized least squares method for estimating the set of parameters.

6 . The system of claim 2 , wherein the processor is further programmed to:
apply a Kalman filter to estimate the state of the state space model.

7 . The system of claim 1 , wherein the cost of operating the vehicle includes fuel consumption.

8 . The system of claim 1 , wherein the processor is further programmed to:
determine the second control input based on a cost minimization control method.

9 . The system of claim 1 , wherein the processor is further programmed to:
operating the vehicle according to the third control input.

10 . The system of claim 1 , wherein the processor is further programmed to:
Adapt the one or more second reference parameters so that the third control input converges to the second control input.

11 . A method comprising:
determining, by a processor in a vehicle, a first control input for the vehicle based in part on input data and one or more first reference parameters; operating the vehicle according to the first control input; determining, based in part on operating data of the vehicle for an operating condition, a second control input for the vehicle, such that a cost of operating the vehicle according to the second control input is reduced relative to the cost of operating the vehicle based on the first control input; determining, based on the second control input, one or more second reference parameters, to generate, based at least in part on the input data and the one or more second reference parameters, a third control input, wherein a cost of operating the vehicle according to the third control input is reduced relative to the cost of operating the vehicle based on the first control input.

12 . The method of claim 11 , further comprising:
generating, based on the input data and the operating data, a state space model of the vehicle; determining, for the operating condition of the vehicle, an estimated state of the state space model; and, taking into account the estimated state for the operating condition for determining the second control input.

13 . The method of claim 12 , further comprising:
generating a dynamic model for the vehicle; estimating a set of parameters correlating individual inputs of the model to the output of the model for the operating condition; and taking into account the set of parameters correlating individual inputs of the model to the output of the model for determining the second control input.

14 . The method of claim 13 , wherein the dynamic model is an auto-regressive moving average model.

15 . The method of claim 14 , further comprising:
applying a regularized least squares method for estimating the set of parameters.

16 . The method of claim 12 , further comprising:
applying a Kalman filter to estimate the state of the state space model.

17 . The method of claim 11 , wherein the cost of operating the vehicle includes fuel consumption.

18 . The system of claim 11 , further comprising:
determining the second control input based on a cost minimization control method.

19 . The system of claim 11 , further comprising:
operating the vehicle according to the third control input.

20 . The system of claim 11 , wherein the processor is further programmed to:
Adapting the one or more second reference parameters so that the third control input converges to the second control input.

Assignees

• Ford Global Tech Llc

Inventors

• Wang Jing
• Wang Yan
• Filev Dimitar Petrov
• Michelini John Ottavio

Classifications

• B60W2530/20

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• B60W2510/0604

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• B60W2510/182

  Brake pressure, e.g. of fluid or between pad and disc · CPC title

• B60W2510/20

  Steering systems · CPC title

• G07C5/0816 Primary

  Indicating performance data, e.g. occurrence of a malfunction · CPC title