Method and system for vehicle cruise control

1. A vehicle system, comprising:

a vehicle including a motive torque source;

a transmission coupled to the motive torque source, the transmission including a neutral state and a forward gear; and

a controller in the vehicle, the controller including executable instructions stored in non-transitory memory, the instructions including an adaptive nonlinear model predictive cruise control routine; wherein

the controller includes further instructions for:

in response to a convex fuel consumption model, operating the transmission in the forward gear, and

in response to a non-convex fuel consumption model, operating the transmission in the neutral state.

2. The vehicle system of claim 1 , where the adaptive nonlinear model predictive cruise control routine includes a vehicle dynamics model and instructions for adapting the vehicle dynamics model, including adaptive coefficients of the vehicle dynamics model to compensate for changes in vehicle mass, wind, and tire condition, and where, in response to the convex fuel consumption model, the motive torque source is operated at a torque selected based on a fuel consumption model to minimize fuel consumption.

3. The vehicle system of claim 2 , where the vehicle dynamics model is adapted via recursive least squares, and where the motive torque source is operated at an idle torque when the transmission is in the neutral state.

4. The vehicle system of claim 3 , where the adaptive nonlinear model predictive cruise control routine includes instructions for adapting the fuel consumption model, and where, in response to the non-convex fuel consumption model and a vehicle speed dropping to a first threshold level, adjusting the transmission to the forward gear and operating the motive torque source at a torque greater than the idle torque.

5. The vehicle system of claim 4 , where the fuel consumption model is adapted via recursive least squares, and where the fuel consumption model is adjusted based on an upcoming road grade.

6. The vehicle system of claim 1 , where the adaptive nonlinear model predictive cruise control routine adapts a vehicle dynamics model and a fuel consumption model real-time while the vehicle is operating on a road in a cruise control mode.

7. The vehicle system of claim 1 , where the adaptive nonlinear model predictive cruise control routine outputs a torque demand to the motive torque source.

8. A vehicle system, comprising:

a vehicle including a motive torque source;

a transmission operatively coupled to the motive torque source, the transmission having a neutral state and a forward gear; and

a controller in the vehicle, the controller including executable instructions stored in non-transitory memory, the instructions including an adaptive nonlinear model predictive cruise control routine with transmission neutral state activation, wherein

the controller includes further instructions to:

operate in a constant torque mode in response to a first condition being met, and

operate in a pulse-and-glide mode in response to the first condition not being met, where adaptive nonlinear model predictive cruise control routine instructions include instructions to predict an optimal vehicle velocity profile and a corresponding torque profile based on a predicted road grade ahead of a present position of the vehicle; wherein the first condition being met includes a fuel consumption model being convex, and wherein the first condition not being met includes the fuel consumption model not being convex.

9. The vehicle system of claim 8 , where the adaptive nonlinear model predictive cruise control routine instructions include instructions for evaluating operating the vehicle at road conditions the vehicle is expected to encounter at a future time; and wherein the pulse-and-glide mode includes alternating between accelerating the vehicle with the transmission in the forward gear and coasting the vehicle with the transmission in the neutral state.

10. The vehicle system of claim 9 , where the adaptive nonlinear model predictive cruise control routine instructions include instructions for evaluating operating the vehicle at road conditions the vehicle is expected to encounter at the future time responsive to a prediction horizon and based on mapped road conditions; and wherein the accelerating is performed until a vehicle speed reaches an upper threshold, and the coasting is performed until the vehicle speed reaches a lower threshold.

11. The vehicle system of claim 10 , where the adaptive nonlinear model predictive cruise control routine instructions include instructions to adjust a torque command supplied to the motive torque source responsive to data derived from a lead vehicle operating on a same road as the vehicle, and wherein the coasting includes operating an engine at an idle torque.

12. The vehicle system of claim 8 , where the adaptive nonlinear model predictive cruise control routine instructions include instructions to output a command to the motive torque source; and wherein the constant torque mode includes operating the motive torque source at a torque and operating the transmission in the forward gear.

13. A vehicle cruise control method, comprising:

receiving vehicle information from one or more sensors of a vehicle to a controller;

providing a torque command and a transmission command responsive to output of an adaptive nonlinear model predictive cruise control routine executed by the controller, the adaptive nonlinear model predictive cruise control routine being adapted based on the vehicle information;

adjusting a torque actuator of a motive torque source responsive to the torque command;

adjusting a gear selection of a transmission responsive to the transmission command; and

when a fuel consumption model is non-convex,

in response to a vehicle speed increasing to an upper threshold, adjusting the gear selection to a neutral state, adjusting the torque actuator to deliver an idle torque, and coasting the vehicle, and

in response to the vehicle speed decreasing to a lower threshold, adjusting the gear selection to a forward gear, adjusting the torque actuator to deliver a torque greater than the idle torque, and accelerating the vehicle.

14. The method of claim 13 , where the adaptive nonlinear model predictive cruise control routine provides for selectively shifting the transmission of the vehicle into neutral while the vehicle is operating in a cruise control mode; the method further comprising,

when the fuel consumption model is convex, adjusting the gear selection to the forward gear and adjusting the torque actuator to deliver a torque.

15. The method of claim 14 , wherein, when the fuel consumption model is convex, the torque command is within a first threshold range bounded by a first lower torque threshold and a first upper torque threshold.

16. The method of claim 15 , wherein, when the fuel consumption model is non-convex, the torque command is within a second threshold range bounded by a second lower torque threshold and a second upper torque threshold if the adaptive nonlinear model predictive cruise control routine receives data from a non-convex shaped vehicle fuel consumption model while the vehicle is accelerating, the second threshold range greater than the first threshold range, the second lower torque threshold less than the first lower torque threshold.

17. The method of claim 15 , where the motive torque source is an engine, where the torque command is based on a prediction horizon, and where the prediction horizon includes road grade data, and where the torque is selected to minimize fuel consumption based on the fuel consumption model.

18. The method of claim 17 , where the torque command is further based on a state of a lead vehicle ahead of the vehicle including the controller, and where the fuel consumption model is adjusted based on the vehicle information including an upcoming road grade.