Gain optimization and selection for vehicle systems

1 . A vehicle system for selecting a gain set for controlling a vehicle, the vehicle system comprising:

a plurality of sensors configured to detect one or more vehicle characteristics; and

a control module in communication with the plurality of sensors, the control module configured to:

optimize a plurality of gain sets for a plurality of different driving conditions, each gain set including one or more values representing a relationship between an input to the control module and an output of the control module;

determine a first current driving condition associated with the vehicle based on the one or more vehicle characteristics;

select a first gain set of the plurality of optimized gain sets based on the first current driving condition associated with the vehicle;

determine a second current driving condition associated with the vehicle based on the one or more vehicle characteristics;

select a second gain set of the plurality of optimized gain sets based on the determined second driving condition associated with the vehicle;

blend the first gain set into the second gain set to provide a smooth transition; and

generate a control signal based on one or more values of the second gain set for controlling at least one operation of the vehicle.

2 . The vehicle system of claim 1 , wherein the control module is configured to receive data sets associated with the plurality of driving conditions and optimize, with an optimization algorithm, a cost function based on a performance of an estimator for the plurality of gain sets for the plurality of driving conditions based on the received data sets.

3 . The vehicle system of claim 2 , wherein the data sets include a lateral vehicle acceleration value and a vehicle wheel slip ratio value for each driving condition.

4 . The vehicle system of claim 2 , wherein the control module is configured to determine optimal values for the plurality of gain sets based on a cost function equation having a correlation coefficient and a root mean squared error (RMSE) component.

5 . The vehicle system of claim 4 , wherein the control module is configured to detect a singularity in a portion of the data sets and prevent the optimization algorithm from utilizing the portion of an optimization space when determining the optimal values for the plurality of gain sets based on the cost function equation.

6 . The vehicle system of claim 1 , wherein:

the control module includes a first model and a second model; and

the control module is configured to separately optimize a first subset of the plurality of gain sets for the first model and a second subset of the plurality of gain sets for the second model.

7 . The vehicle system of claim 6 , wherein the first model is a dynamic model and the second model is a kinematic model.

8 . The vehicle system of claim 6 , wherein the control module is configured to freeze the first subset of the plurality of gain sets and optimize the second subset of the plurality of gain sets for the second model while the first subset are frozen.

9 . The vehicle system of claim 6 , wherein the control module is configured to:

determine a first vehicle control state using the first model based on the first subset of the plurality of gain sets;

determine a second vehicle control state using the second model based on the first vehicle control state and the second subset of the plurality of gain sets; and

generate the control signal based on the second vehicle control state.

10 . The vehicle system of claim 9 , wherein the second vehicle control state is a lateral velocity estimate.

11 . The vehicle system of claim 1 , wherein the one or more vehicle characteristics include a lateral acceleration value for the vehicle and a slip ratio value for each wheel of the vehicle.

12 . The vehicle system of claim 1 , wherein the driving conditions include one or more of a decreased surface friction coefficient condition, an increased lateral acceleration condition, and a normal driving condition.

13 . A vehicle system for selecting a gain set for controlling a vehicle, the vehicle system comprising:

a plurality of sensors configured to detect one or more vehicle characteristics; and

a control module in communication with the plurality of sensors and including a first model and a second model, the control module configured to:

receive a plurality of optimized gain sets for a plurality of different driving conditions, each gain set including one or more values representing a relationship between an input to the control module and an output of the control module;

determine a current driving condition associated with the vehicle based on the one or more vehicle characteristics;

select a gain set of the plurality of optimized gain sets based on the current driving condition associated with the vehicle, the selected gain set including a first subset for the first model and a second subset for the second model;

determine a first vehicle control state using the first model based on the first subset of the gain set,

determine a second vehicle control state using the second model based on the first vehicle control state and the second subset of the gain set, and

generate a control signal based on the second vehicle control state for controlling at least one operation of the vehicle.

14 . The vehicle system of claim 13 , wherein:

the control module is a first control module internal to the vehicle;

the vehicle system further includes a second control module external to the vehicle; and

the second control module is configured to optimize the plurality of gain sets for the plurality of different driving conditions and transmit the plurality of optimized gain sets to the first control module.

15 . The vehicle system of claim 13 , wherein the first model is a dynamic model and the second model is a kinematic model.

16 . The vehicle system of claim 13 , wherein:

the current driving condition is a first current driving condition;

the gain set of the plurality of optimized gain sets is a first gain set; and

the control module is configured to:

determine a second current driving condition associated with the vehicle based on the one or more vehicle characteristics;

select a second gain set of the plurality of optimized gain sets based on the determined second driving condition associated with the vehicle;

blend the first gain set into the second gain set to provide a smooth transition; and

generate the control signal based on one or more values of the second gain set for controlling at least one operation of the vehicle.

17 . The vehicle system of claim 13 , wherein:

the one or more vehicle characteristics include a lateral acceleration value for the vehicle and a slip ratio value for each wheel of the vehicle; and

the driving conditions include one or more of a decreased surface friction coefficient condition, an increased lateral acceleration condition, and a normal driving condition.

18 . A control method for selecting a gain set for controlling a vehicle, the control method comprising:

optimizing a plurality of gain sets for a plurality of different driving conditions, including separately optimizing a first subset of the plurality of gain sets for a first model and a second subset of the plurality of gain sets for a second model;

determining a current driving condition associated with the vehicle based on one or more vehicle characteristics;

selecting a gain set of the plurality of optimized gain sets based on the determined driving condition associated with the vehicle;

determine a first vehicle control state using the first model based on the first subset of the plurality of gain sets;

determine a second vehicle control state using the second model based on the first vehicle control state and the second subset of the plurality of gain sets; and

generating a control signal based on the second vehicle control state for controlling at least one operation of the vehicle.

19 . The control method of claim 18 , wherein separately optimizing the first subset of the plurality of gain sets and the second subset of the plurality of gain sets includes freezing the first subset of the plurality of gain sets and optimizing the second subset of the plurality of gain sets while the first subset are frozen.

20 . The control method of claim 18 , wherein:

the first model is a dynamic model and the second model is a kinematic model; and

the second vehicle control state is a lateral velocity estimate.