Iterative sequential velocity and state of charge setpoint selection for autonomous vehicles
A method of operating a vehicle includes generating initial state of charge and vehicle velocity profiles for a travel route, for each initial velocity setpoint defining the vehicle velocity profile, generating a plurality of updated state of charge setpoints, for each of the initial velocity setpoints, selecting one of the updated state of charge setpoints to define an updated state of charge profile, for each of the updated state of charge setpoints that defines the updated state of charge profile, generating a plurality of updated velocity setpoints, for each of the updated state of charge setpoints that defines the updated state of charge profile, selecting one of the updated velocity setpoints to define an updated velocity profile, and controlling operation of an electric machine and engine according to the updated state of charge profile and updated velocity profile over the travel route.
1. An automotive vehicle comprising:
an electric machine;
an engine; and
one or more controllers programmed to
a) generate an initial state of charge profile and an initial vehicle velocity profile for a travel route,
b) for each initial velocity setpoint defining the initial vehicle velocity profile, generate a plurality of updated state of charge setpoints,
c) for each of the initial velocity setpoints, select one of the updated state of charge setpoints to define an updated state of charge profile,
d) for each of the updated state of charge setpoints that defines the updated state of charge profile, generate a plurality of updated velocity setpoints,
e) for each of the updated state of charge setpoints that defines the updated state of charge profile, select one of the updated velocity setpoints to define an updated velocity profile, and
f) control operation of the electric machine and engine according to the updated state of charge profile and updated velocity profile over the travel route to drive actual state of charge and velocity values toward corresponding ones of the updated state of charge setpoints and updated velocity setpoints.
2. The automotive vehicle of claim 1 , wherein the one or more controllers are further programmed to repeat operations a) through e) until values of the updated state of charge setpoints fall within a predefined range.
3. The automotive vehicle of claim 2 , wherein the predefined range is defined by output from a previous iteration of operations a) through e).
4. The automotive vehicle of claim 1 , wherein the one or more controllers are further programmed to repeat operations a) through e) until values of the updated velocity setpoints fall within a predefined range.
5. The automotive vehicle of claim 4 , wherein the predefined range is defined by output from a previous iteration of operations a) through e).
6. A method of operating a vehicle including an electric machine and engine, the method comprising:
a) generating an initial state of charge profile and an initial vehicle velocity profile for a travel route;
b) for each initial velocity setpoint defining the vehicle velocity profile, generating a plurality of updated state of charge setpoints;
c) for each of the initial velocity setpoints, selecting one of the updated state of charge setpoints to define an updated state of charge profile;
d) for each of the updated state of charge setpoints that defines the updated state of charge profile, generating a plurality of updated velocity setpoints;
e) for each of the updated state of charge setpoints that defines the updated state of charge profile, selecting one of the updated velocity setpoints to define an updated velocity profile; and
f) controlling operation of the electric machine and engine according to the updated state of charge profile and updated velocity profile over the travel route to drive actual state of charge and velocity values toward corresponding ones of the updated state of charge setpoints and updated velocity setpoints.
7. The method of claim 6 further comprising repeating operations a) through e) until values of the updated state of charge setpoints fall within a predefined range.
8. The method of claim 7 , wherein the predefined range is defined by output from a previous iteration of operations a) through e).
9. The method of claim 6 further comprising repeating operations a) through e) until values of the updated velocity setpoints fall within a predefined range.
10. The method of claim 9 , wherein the predefined range is defined by output from a previous iteration of operations a) through e).