Grade-based vehicle motion control
Techniques control a utility vehicle. Such techniques involve setting a set of maximum motion limits imposed on the utility vehicle to a set of initial values. Such techniques further involve receiving a set of input signals from a set of sensors, the set of input signals indicating a set of current physical attributes of the utility vehicle. Such techniques further involve, based on the set of input signals, changing at least one maximum motion limit of the set of maximum motion limits from an initial value to an updated value which is different from the initial value.
1 . A method of controlling a utility vehicle, the method comprising:
setting a set of maximum motion limits imposed on the utility vehicle to a set of initial values;
receiving a set of input signals from a set of sensors, the set of input signals indicating a set of current physical attributes of the utility vehicle; and
based on the set of input signals, changing at least one maximum motion limit of the set of maximum motion limits from an initial value to an updated value which is different from the initial value;
wherein changing the at least one maximum motion limit includes:
comparing the set of current physical attributes indicated by the set of input signals to a set of physical attribute thresholds to obtain a first candidate motion limit value based on a first attribute comparison and a second candidate motion limit value based on a second attribute comparison, the first candidate motion limit value being different from the second candidate motion limit value, and
selecting, as the updated value, one of the first candidate motion limit value and the second candidate motion limit value based on which is lower.
2 . The method of claim 1 wherein the set of maximum motion limits includes a maximum speed limit imposed on the utility vehicle;
wherein the initial value is a first maximum speed limit; and
wherein the updated value is a second maximum speed limit that is lower than the first maximum speed limit.
3 . The method of claim 1 wherein the set of maximum motion limits includes a maximum acceleration rate imposed on the utility vehicle;
wherein the initial value is a first maximum acceleration rate; and
wherein the updated value is a second maximum acceleration rate that is lower than the first maximum acceleration rate.
4 . The method of claim 1 wherein the set of maximum motion limits includes a maximum deceleration rate imposed on the utility vehicle;
wherein the initial value is a first maximum deceleration rate; and
wherein the updated value is a second maximum deceleration rate that is lower than the first maximum deceleration rate.
5 . The method of claim 1 wherein the set of maximum motion limits includes a maximum speed limit that is initially set to a first maximum speed limit, a maximum acceleration rate that is initially set to a first maximum acceleration rate, and a maximum deceleration rate that is initially set to a first maximum deceleration rate.
6 . The method of claim 1 wherein receiving the set of input signals from the set of sensors includes:
receiving a set of grade measurements from a set of grade sensors of the utility vehicle, the set of grade measurements indicating a set of current angular pitches of the utility vehicle.
7 . The method of claim 6 wherein the utility vehicle includes an electric propulsion system that includes an electric motor and motor controller that controls operation of the electric motor; and
wherein receiving the set of grade measurements from the set of grade sensors includes:
acquiring a set of inertial measurement unit (IMU) signals from a set of IMUs of the motor controller while the motor controller controls operation of the electric motor.
8 . The method of claim 6 wherein receiving the set of grade measurements from the set of grade sensors includes:
receiving a longitudinal grade measurement signal indicating a current amount of front-to-back pitch of the utility vehicle.
9 . The method of claim 8 wherein changing the at least one maximum motion limit further includes:
in response to the current amount of front-to-back pitch indicated by the longitudinal grade measurement signal being greater than a predefined front-to-back pitch threshold, lowering at least one of a maximum speed limit, a maximum acceleration limit and a maximum deceleration limit of the utility vehicle.
10 . The method of claim 6 wherein receiving the set of grade measurements from the set of grade sensors includes:
receiving a lateral grade measurement signal indicating a current amount of side-to-side roll of the utility vehicle.
11 . The method of claim 10 wherein changing the at least one maximum motion limit further includes:
in response to the current amount of side-to-side roll indicated by the lateral grade measurement signal being greater than a predefined side-to-side roll threshold, lowering at least one of a maximum speed limit, a maximum acceleration limit and a maximum deceleration limit of the utility vehicle.
12 . The method of claim 6 wherein receiving the set of grade measurements from the set of grade sensors includes:
receiving a longitudinal grade measurement signal indicating a current amount of front-to-back pitch of the utility vehicle, and a lateral grade measurement signal indicating a current amount of side-to-side roll of the utility vehicle.
13 . The method of claim 12 wherein changing the at least one maximum motion limit further includes:
in response to the current amount of front-to-back pitch of the utility vehicle being greater than a predefined front-to-back pitch threshold, identifying a first new maximum speed for the utility vehicle, and
in response to the current amount of side-to-side roll of the utility vehicle being greater than a predefined side-to-side roll threshold, identifying a second new maximum speed for the utility vehicle, and
replacing an initial value for a maximum speed limit of the utility vehicle with a lower of the first new maximum speed for the utility vehicle and the second new maximum speed for the utility vehicle.
14 . The method of claim 12 wherein changing the at least one maximum motion limit further includes:
in response to the current amount of front-to-back pitch of the utility vehicle being greater than a predefined front-to-back pitch threshold, identifying a first new maximum acceleration rate for the utility vehicle, and
in response to the current amount of side-to-side roll of the utility vehicle being greater than a predefined side-to-side roll threshold, identifying a second new maximum acceleration rate for the utility vehicle, and
replacing an initial value of a maximum acceleration rate limit of the utility vehicle with a lower of the first new maximum acceleration rate for the utility vehicle and the second new maximum acceleration rate for the utility vehicle.
15 . The method of claim 12 wherein changing the at least one maximum motion limit further includes:
in response to the current amount of front-to-back pitch of the utility vehicle being greater than a predefined front-to-back pitch threshold, identifying a first new maximum deceleration rate for the utility vehicle, and
in response to the current amount of side-to-side roll of the utility vehicle being greater than a predefined side-to-side roll threshold, identifying a second new maximum deceleration rate for the utility vehicle, and
replacing an initial value of a maximum deceleration rate limit of the utility vehicle with a lower of the first new maximum deceleration rate for the utility vehicle and the second new maximum deceleration rate for the utility vehicle.
16 . The method of claim 6 , further comprising:
after changing the at least one maximum motion limit, receiving a new set of grade measurements from the set of grade sensors of the utility vehicle, the new set of grade measurements indicating a new set of current angular pitches of the utility vehicle, and
based on the new set of input signals, changing the at least one maximum motion limit from updated value to another value which is different from the updated value.
17 . Electronic circuitry to control a utility vehicle, the electronic circuitry comprising:
a set of sensors;
motor control circuitry constructed and arranged to operate an electric motor for vehicle propulsion; and
a controller coupled with the set of sensors and the motor control circuitry, the controller being constructed and arranged to perform a method of:
setting a set of maximum motion limits imposed by the motor control circuitry on the utility vehicle to a set of initial values,
receiving the set of input signals from the set of sensors, the set of input signals indicating a set of current physical attributes of the utility vehicle, and
based on the set of input signals, changing at least one maximum motion limit of the set of maximum motion limits from an initial value to an updated value which is different from the initial value;
wherein changing the at least one maximum motion limit includes:
comparing the set of current physical attributes indicated by the set of input signals to a set of physical attribute thresholds to obtain a first candidate motion limit value based on a first attribute comparison and a second candidate motion limit value based on a second attribute comparison, the first candidate motion limit value being different from the second candidate motion limit value, and
selecting, as the updated value, one of the first candidate motion limit value and the second candidate motion limit value based on which is lower.
18 . A utility vehicle, comprising:
a battery management system (BMS) having a lithium battery;
a utility vehicle propulsion system constructed and arranged to provide utility vehicle propulsion using electric power from the lithium battery; and
electronic circuitry coupled with the BMS and the utility vehicle propulsion system, the electronic circuitry being constructed and arranged to perform a method of:
setting a set of maximum motion limits imposed on the utility vehicle to a set of initial values,
receiving a set of input signals from a set of sensors, the set of input signals indicating a set of current physical attributes of the utility vehicle, and
based on the set of input signals, changing at least one maximum motion limit of the set of maximum motion limits from an initial value to an updated value which is different from the initial value;
wherein changing the at least one maximum motion limit includes:
comparing the set of current physical attributes indicated by the set of input signals to a set of physical attribute thresholds to obtain a first candidate motion limit value based on a first attribute comparison and a second candidate motion limit value based on a second attribute comparison, the first candidate motion limit value being different from the second candidate motion limit value, and
selecting, as the updated value, one of the first candidate motion limit value and the second candidate motion limit value based on which is lower.
19 . The method of claim 1 wherein the first attribute comparison is a comparison of a current front-to-back vehicle pitch attribute with a predefined front-to-back threshold;
wherein the second attribute comparison is a comparison of a current side-to-side vehicle pitch attribute with a predefined side-to-side threshold;
wherein the first candidate motion limit value and the second candidate motion limit value have the same units; and
wherein selecting includes:
using a lower of the first candidate motion limit value and the second candidate motion limit value.
20 . The method of claim 1 wherein comparing provides, as the first and second candidate motion limit values, multiple comparison-determined motion limit values; and
wherein selecting includes:
identifying a slowest motion limit value among the multiple comparison-determined motion limit values, and
using, as the updated value, the identified slowest motion limit value.