Ground vehicle control techniques
Ground vehicle control techniques adapted to reduce energy consumption, braking, shifting, travel distance, travel time, and or the like. The techniques can generate a target speed window and a target vehicle performance plan for controlling operation of a ground vehicle along a current and one or more upcoming segments of a roadway responsive to the dynamic driving environment.
1. A ground vehicle forward-looking control system comprising:
a plurality of sensors configured to detect a plurality of ground vehicle operating parameters, driver control inputs, and one or more driving environment parameters, wherein the one or more driving environment parameters includes at least one predicted driving environment parameter; and
a controller configured to;
determine a target speed window based on one or more of one or more ground vehicle operating parameters and one or more driving environment parameters;
determine a target vehicle performance plan including torque, velocity and gear, based on the target speed window and one or more of the one or more ground vehicle operating parameters, the driver control inputs and the one or more driving environment parameters including the at least one predicted driving environment parameter utilizing a Generalized Predictive Control (GDP) over a receding time window based on torque, velocity and gear to reduce energy consumption by a ground vehicle within the target speed window; and
generate one or more of one or more modulated driver control inputs and one or more of ground vehicle input operating parameters for output to one or more actuators of the ground vehicle based on the determined target speed window and the determined target vehicle performance plan.
2. The ground vehicle control system of claim 1 , wherein the controller is further configured to determine the target speed window based on one or more of the one or more ground vehicle operating parameters and the one or more driving environment parameters to minimize energy consumption by the ground vehicle.
3. The ground vehicle control system of claim 1 , wherein the controller is further configured to determine one or more of the target speed window and the target vehicle performance plan based on the one or more of the one or more ground vehicle operating parameters, the driver control inputs and the one or more driving environment parameters to reduce braking, and reduce shifting.
4. The ground vehicle control system of claim 1 , wherein:
the plurality of ground vehicle operating parameters include one or more of a current vehicle speed, a current vehicle acceleration, an engine speed, an engine torque, a transmission speed, a transmission torque, a transmission gear, and one or more energy input rates; and
the controller is further configured to determine the target vehicle performance plan based on the one or more ground vehicle operating parameters including one or more of the current vehicle speed, the current vehicle acceleration, the current engine speed, the engine torque, the transmission speed, the transmission torque, the transmission gear, and the one or more energy input rates to minimize energy consumption.
5. (;Original) The ground vehicle control system of claim 1 , wherein:
the one or more driving environment parameters include one or more of a predicted driving event/risk, geometry of one or more upcoming roadway segments, current traffic conditions and current driving conditions; and
the controller is further configured to determine the target vehicle performance plan based on the one or more driving environment parameters including one or more of the predicted driving event/risk, the geometry of one or more upcoming roadway segments, the current traffic conditions and the current driving conditions to minimize energy consumption.
6. The ground vehicle control system of claim 1 , the controller further configured to:
determine a target transmission gear plan based on the target vehicle performance plan and one or more of the one or more ground vehicle operating parameters, the driver control inputs and the one or more driving environment parameters to minimize one or more of energy consumption by the ground vehicle and shifting; and
generate the one or more of one or more modulated driver control inputs and one or more ground vehicle input operating parameters for output to one or more actuators of the ground vehicle based on the determined target speed window, the determined target vehicle performance plan and the determined target transmission gear plan.
7. The ground vehicle control system of claim 1 , wherein the controller is configured to determine the target speed window further based on one or more of a posted speed limit window, a driver based speed window, a road topology based speed adjustment of one or more future roadway segments, and a driving condition based speed adjustment.
8. The ground vehicle control system of claim 1 , wherein the controller is configured to determine the target vehicle performance plan based on the one or more of the one or more ground vehicle operating parameters and the one or more driving environment parameters utilizing the Generalized Predictive Control (GPC) including one or more of a longitudinal vehicle dynamics model, a lateral vehicle dynamics model, an energy consumption model, an engine model, a transmission model, and a road topology model to minimize energy consumption.
9. A ground vehicle control method comprising:
determining a target speed window based on one or more of one or more ground vehicle operating parameters and one or more driving environment parameters;
determining a target vehicle performance plan based on the target speed window and one or more of the one or more ground vehicle operating parameters, one or more driver control inputs and the one or more driving environment parameters utilizing a Generalized Predictive Control (GDP) over a receding time window based on torque, velocity and gear to reduce energy consumption by a ground vehicle; and
generating one or more vehicle operating indicators for output to a driver of the ground vehicle based on the determined target speed window and the determined target vehicle performance plan.
10. The ground vehicle control method according to claim 9 , comprising further determining the target vehicle performance plan to reduce braking by the ground vehicle.
11. The ground vehicle control method according to claim 9 , comprising further determining the target speed window based on one or more of the one or more ground vehicle operating parameters and the one or more driving environment parameters to reduce energy consumption by the ground vehicle.
12. The ground vehicle control method according to claim 9 , wherein:
the one or more ground vehicle operating parameters include one or more of a current vehicle speed, a current vehicle acceleration, an engine speed, an engine torque, a transmission speed, a transmission torque, a transmission gear, and one or more energy input rates; and
the target vehicle performance plan is determined based on the one or more ground vehicle operating parameters including one or more of the current vehicle speed, the current vehicle acceleration, the current engine speed, the engine torque, the transmission speed, the transmission torque, the transmission gear, and the one or more energy input rates to minimize energy consumption.
13. The ground vehicle control method according to claim 9 , wherein:
the one or more driving environment parameters include one or more of a predicted driving event/risk, geometry of one or more upcoming roadway segments, current traffic conditions and current driving conditions; and
the target vehicle performance plan is determined based on the one or more driving environment parameters including one or more of the predicted driving event/risk, the geometry of one or more upcoming roadway segments, the current traffic conditions and the current driving conditions to minimize energy consumption.
14. The ground vehicle control method according to claim 9 , further comprising:
determining a target transmission gear plan based on the target vehicle performance plan and one or more of the one or more ground vehicle operating parameters, the driver control inputs and the one or more driving environment parameters to reduce shilling by the ground vehicle; and
generating the one or more vehicle operating indicators for output to the driver of the ground vehicle based on the determined target speed window, the determined target vehicle performance plan and the determined target transmission gear plan.
15. The ground vehicle control method according to claim 9 , comprising further determining the target speed window further based on one or more of a posted speed limit window, a driver based speed window, a road topology based speed adjustment of one or more future roadway segments, and a driving condition based speed adjustment.
16. The ground vehicle control method according to claim 9 , comprising further determining the target vehicle performance plan based on the one or more of the one or more ground vehicle operating parameters, the driver control inputs and the one or more driving environment parameters utilizing the Generalized Predictive Control (GPC) including one or more of a longitudinal vehicle dynamics model, a lateral vehicle dynamics model, an energy consumption model, an engine model, a transmission model, and a road topology model to minimize energy consumption.
17. The ground vehicle control method according to claim 16 , wherein the energy consumption model includes predicting energy consumed by the ground vehicle as a function of engine speed and an engine torque.
18. The ground vehicle control method according to claim 16 , wherein the longitudinal dynamic vehicle mode includes predicting the velocity of the ground vehicle based on a force balance equation.
19. The ground vehicle control method according to claim 16 , wherein the GPC includes a short preview window optimization and a long-term trip optimization.
20. The ground vehicle control method according to claim 16 , wherein the GPC includes:
minimization of energy consumed by the ground vehicle;
tracking reference speed and average speed of the ground vehicle;
minimization of acceleration of the ground vehicle for safety and comfort;
minimization of propulsion torque and rate of change of the propulsion torque of the ground vehicle for safety and comfort;
minimization of retardation torque and rate of change of the retardation torque of the ground vehicle for safety, comfort and fuel minimization; and
minimization of gear change of the ground vehicle.
21. The ground vehicle control method according to claim 16 , wherein the GPC is constrained by one or more of a speed, propulsion torque, retardation torque, engine speed, and safe following distance of the ground vehicle.
22. The ground vehicle control method according to claim 21 , wherein the GPC is optimized for engine torque, retardation torque and a gear trajectory.
23. The ground vehicle control method according to claim 21 ; wherein:
the GPC is optimized for acceleration, velocity and a gear trajectory; and
the optimized acceleration, velocity and gear trajectory are converted into engine toque, retardation torque and the gear trajectory.