Control allocation for vehicle torque

1. A method comprising:

establishing values for a plurality of driveline controls of a linear program based on values of a plurality of driveline requests of the linear program, the driveline controls respectively corresponding with a plurality of driveline actuators; and

adjusting the plurality of driveline actuators based upon the values for the plurality of driveline controls, wherein the values for the plurality of driveline controls are established based on values of a plurality of weights of a cost function of the linear program, the plurality of weights respectively corresponding with the plurality of driveline requests;

wherein the linear program includes a constraint vector b, a variable vector x, a matrix of coefficients A, and a cost vector c T ; and

wherein the cost function is the product of the cost vector c T and the variable vector x;

wherein the cost vector c T is a row vector having a number of entries equal to the number N C of driveline controls and twice the number N R of driveline requests;

wherein the first N C entries of the cost vector c T are zero; and

wherein the last 2*N R entries of the cost vector c T comprise the plurality of weights.

2. The method of claim 1 , wherein at least one of the values of the plurality of driveline requests is nullified by assigning arbitrary high values to one or more of a plurality of weights of the cost function.

3. The method of claim 1 , wherein values for one or more of the weights of the cost function are based on performance degradation of one or more of the driveline actuators.

4. The method of claim 1 , wherein a constraint vector of the linear program constraint vector b contains values respectively corresponding with the plurality of driveline requests.

5. The method of claim 1 , wherein the one or more driveline controls includes at least one wheel torque allocation.

6. The method of claim 1 , wherein the variable vector x is a column vector having a number of entries equal to the sum of the number Nc of driveline controls and twice the number N R of driveline requests; wherein the first Nc entries of the variable vector x respectively correspond with the values of the plurality of driveline controls; and wherein the last 2*NR entries of the variable vector x comprise a set of slack variables.

7. A system for controlling drivelines of a vehicle, comprising:

four driveline controls for controlling four actuators; and

one or more driveline control allocation circuitries operable to establish a distribution of four torque values for the four driveline controls based on values of a plurality of driveline requests, wherein the four torque values correspond with a minimized value of a cost function of a linear program;

wherein at least one of the values of the plurality of driveline requests is nullified by assigning arbitrary high values to one or more of a plurality of weights of the cost function;

wherein the linear program includes a constraint vector b, a variable vector x, a matrix of coefficients A, and a cost vector c T ; and

wherein the cost function is the product of the cost vector c T and the variable vector x;

wherein the matrix of coefficients A is a matrix having a number of rows equal to the number N R of driveline requests, and having a number of columns equal to the sum of the number N C of driveline controls and the number 2*N R of driveline requests;

wherein the first N C columns of the matrix of coefficients A correspond with the plurality of driveline controls; and

wherein the last 2*N R columns of the matrix of coefficients A contain an N R -by-N R identity matrix and a negated N R -by-N R identity matrix.

8. The system of claim 7 , wherein at least one of the four actuators is a torque actuator.

9. The system of claim 7 , wherein the distribution of the four torque values is established by a single driveline control allocation circuitry.

10. The system of claim 7 , wherein the values of the plurality of the plurality of driveline requests are established by one or more dynamics subsystems.

11. The system of claim 10 , wherein the one or more dynamics subsystems comprise at least one of: a subsystem for yaw control, a subsystem for side-slip angle control, and a subsystem for traction control.

12. A method of controlling vehicle drivelines, the method comprising:

establishing values for a set of driveline controls for a vehicle based on a set of driveline requests for the vehicle, by minimizing a cost function of a linear program for the set of driveline controls and the set of driveline requests, wherein a set of weights of the cost function corresponds with the set of driveline requests of the vehicle; and

nullifying at least one of the driveline requests by assigning arbitrary high values to one or more weights of the set of weights, wherein the linear program includes a constraint vector b, a variable vector x, a matrix of coefficients A, and a cost vector c T ; and

wherein the cost function is the product of the cost vector c T and the variable vector x;

wherein the constraint vector b is a column vector having a number of entries equal to the number N R of driveline requests; and

wherein the N R entries of the constraint vector b respectively correspond with the values of the plurality of driveline requests.

13. The method of claim 12 , wherein the linear program includes a matrix of coefficients A, having the matrix of coefficients A has a number of rows equal to the number of driveline requests.

14. The method of claim 12 , wherein the set of driveline requests includes one or more of: a total torque request; a total yaw moment request; a traction control target for a wheel; and a torque limit for a wheel.

15. The method of claim 12 , wherein values of the set of weights of the cost function establish a prioritization among the set of driveline requests.

16. The method of claim 12 , wherein values for one or more of the weights of the cost function are based on performance degradation of one or more driveline actuators of the vehicle.