Self tuning universal steering control system, method, and apparatus for off-road vehicles

Patent metadata

Field	Value
Publication number	US-9242671-B2
Application number	US-201514609106-A
Country	US
Kind code	B2
Filing date	Jan 29, 2015
Priority date	Mar 30, 2012
Publication date	Jan 26, 2016
Grant date	Jan 26, 2016

Abstract

At least one example embodiment discloses a method of controlling steering of a vehicle. The method includes identifying a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which a least one high-frequency pole is removed. The method further includes generating target closed loop pole locations based on at least one user preference parameter. The method further includes determining calibration parameters that place closed loop poles of a composite system at the target closed loop poles. The composite system in this context includes the reduced-order vehicle model and a steering control system. Finally, the method includes controlling the steering using the steering control system configured using the calibration parameters.

First claim

What is claimed is:

1. A method for calibrating control parameters of an off-road vehicle system, the method comprising:
identifying a reduced-order vehicle model, the reduced-order vehicle model
representing a vehicle transfer function in which at least one high-frequency pole is removed;
generating target closed loop pole locations based on at least one user preference parameter;
determining calibration parameters that place closed loop poles of a composite system at tile target closed loop poles, the composite system including the reduced-order vehicle model mad a vehicle control system;
controlling the off-road vehicle using tile vehicle control system configured using the calibration parameters;
evaluating the performance of the vehicle control system based on at least one performance criterion;
updating the reduced-order vehicle model based on the evaluating; and
determining updated calibration parameters based on the updated reduced-order vehicle model.

2. The method of claim 1 , wherein the reduced-order vehicle model includes two poles.

3. The method of claim 1 , wherein the method is initiated based on user input.

4. The method of claim 1 , wherein the method is initiated based on initial installation of the vehicle control system.

5. A vehicle control system comprising:
a processor and an associated memory, the processor configured to,
identify a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which at least one high-frequency pole is removed,
generate target closed loop pole locations based on at least one user preference parameter, and
determine calibration parameters that place composite system dosed loop poles at the target closed loop poles, the composite system including the reduced-order vehicle model and a vehicle control system;
a device configured to control a function of the vehicle using the vehicle control system, the vehicle control system being based on the determined calibration parameters;
evaluate the performance of the vehicle control system based on at least one performance criterion;
update the reduced-order vehicle model based on the evaluating; and
determine updated calibration parameters based on the updated reduced-order vehicle model.

6. The system of claim 5 , wherein the reduced-order vehicle model includes two poles.

7. The system of claim 5 , wherein the processor is further configured to:
receive a user input indicate acceptance of performance of the vehicle control system.

8. The system of claim 5 , wherein the performance criteria include at least a settling time and a maximum overshoot of the reduced-order vehicle model.

9. A non-transitory tangible storage medium including program segments for, when executed on a computer device, causing the computer device to implement the method for calibrating control parameters of an off-road vehicle system, the method comprising:
identifying a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which at least one high-frequency pole is removed;
generating target closed loop pole locations based on at least one user preference parameter;
determining calibration parameters that place closed loop poles of a composite system at tile target closed loop poles, the composite system including the reduced-order vehicle model mad a vehicle control system;
controlling the off-road vehicle using tile vehicle control system configured using the calibration parameters;
evaluating the performance of the vehicle control system based on at least one performance criterion;
updating the reduced-order vehicle model based on the evaluating; and
determining updated calibration parameters based on the updated reduced-order vehicle model.

Assignees

• Deere & Co

Inventors

• Potter Matthew D
• Schleicher Tyler D
• Liu Nanjun
• Alleyne Andrew G

Classifications

• B60W2050/0031

  Mathematical model of the vehicle · CPC title

• B62D6/00 Primary

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• G06F7/00

  Methods or arrangements for processing data by operating upon the order or content of the data handled (logic circuits H03K19/00) · CPC title

• B62D15/02 Primary

  Steering position indicators {; Steering position determination; Steering aids} · CPC title

• G07C5/0808

  Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005) · CPC title