Controlling vehicles based on current locations and current motion characteristics
A technique is directed to controlling vehicle motion. The technique involves setting a set of motion control parameters which controls motion of the utility vehicle to a set of initial values. The technique further involves receiving stability control inputs which include a geolocation signal identifying a current location of the utility vehicle and a set of motion signals identifying a set of current motion characteristics of the utility vehicle. The technique further involves changing, based on the geolocation signal and the set of motion signals, at least one motion control parameter of the set of motion control parameters which controls motion of the utility vehicle 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 motion control parameters which controls motion of the utility vehicle to a set of initial values;
receiving stability control inputs which include a geolocation signal identifying a current location of the utility vehicle and a set of motion signals identifying a set of current motion characteristics of the utility vehicle; and
based on the geolocation signal and the set of motion signals, changing at least one motion control parameter of the set of motion control parameters which controls motion of the utility vehicle from an initial value to an updated value which is different from the initial value.
2. The method of claim 1 wherein the utility vehicle includes global positioning system (GPS) circuitry constructed and arranged to provide the geolocation signal;
wherein changing the at least one motion control parameter includes:
acquiring a GPS coordinate from the geolocation signal, the GPS coordinate identifying the current location of the utility vehicle, and
performing a geofence detection operation based on the GPS coordinate, a result of the geofence detection operation indicating that the utility vehicle is currently within a stability control geofence.
3. The method of claim 2 wherein the utility vehicle further includes a set of sensors constructed and arranged to provide the set of motion signals; and
wherein changing the at least one motion control parameter further includes:
acquiring a set of motion metrics from the set of motion signals, the set of motion metrics identifying the set of current motion characteristics of the utility vehicle, and
performing a stability assessment operation based on the set of motion metrics, a result of the stability assessment operation indicating that the utility vehicle is currently experiencing a reduced stability event.
4. The method of claim 3 wherein changing the at least one motion control parameter further includes:
performing an adjustment operation that adjusts a particular motion control parameter of the set of motion control parameters in response to the result of the geofence detection operation indicating that the utility vehicle is currently within a stability control geofence and the result of the stability assessment operation indicating that the utility vehicle is currently experiencing the reduced stability event.
5. The method of claim 4 wherein the utility vehicle includes an electric traction motor constructed and arranged to provide utility vehicle propulsion and motor control circuitry constructed and arranged to control the electric traction motor; and
wherein performing the adjustment operation that adjusts the particular motion control parameter includes:
reducing a speed limit imposed by the motor control circuitry on the electric traction motor while the utility vehicle is currently within the stability control geofence and while the utility vehicle is currently experiencing the reduced stability event.
6. The method of claim 3 wherein performing the stability assessment operation includes:
while the utility vehicle is within the stability control geofence, generating an assessment signal indicating that the utility vehicle is currently experiencing adverse angular movement about at least one axis.
7. The method of claim 6 wherein the set of sensors includes an inertial measurement unit (IMU) constructed and arranged to provide a set of angular motion metrics; and
wherein generating the assessment signal includes:
detecting that the utility vehicle is currently experiencing angular movement intensity which exceeds an angular movement intensity threshold based on the set of angular motion metrics.
8. The method of claim 6 wherein the set of sensors includes a steering wheel sensor constructed and arranged to provide a steering wheel rotation measurement; and
wherein generating the assessment signal includes:
detecting that a steering wheel of the utility vehicle is currently rotated by at least a predefined amount based on the steering wheel rotation measurement.
9. The method of claim 6 wherein the set of sensors includes a set of tire speed sensors constructed and arranged to provide a set of tire speed measurements; and
wherein generating the assessment signal includes:
detecting that the utility vehicle is currently moving adversely by at least a predefined amount based on the set of tire speed measurements.
10. The method of claim 3 wherein the set of motion metrics includes a first angular speed metric for utility vehicle angular speed about a vertical axis of the utility vehicle and a second angular speed metric for utility vehicle angular speed about a longitudinal axis of the utility vehicle; and
wherein performing the stability assessment operation based on the set of motion metrics includes:
generating, as at least a portion of the result of the stability assessment operation, a derived angular speed metric based on at least one of the first angular speed metric and the second angular speed metric.
11. The method of claim 10 wherein changing the at least one motion control parameter further includes:
comparing the derived angular speed metric to a predefined threshold, and
lowering a particular motion control parameter from the initial value to the updated value in response to the derived angular speed metric exceeding the predefined threshold.
12. The method of claim 3 , further comprising, while the utility vehicle is within the stability control geofence and prior to changing the at least one motion control parameter of the set of motion control parameters:
acquiring an earlier set of motion metrics from the set of motion signals, the earlier set of motion metrics identifying an earlier set of current motion characteristics of the utility vehicle,
performing an earlier stability assessment operation based on the earlier set of motion metrics, a result of the earlier stability assessment operation indicating that the utility vehicle is currently not experiencing a reduced stability event, and
maintaining the at least one motion control parameter of the set of motion control parameters at the initial value in response to the result of the earlier stability assessment operation indicating that the utility vehicle is currently not experiencing a reduced stability event.
13. The method of claim 12 wherein the earlier set of motion metrics indicates that the utility vehicle is currently experiencing angular movement intensity which is below an angular movement intensity threshold, and
wherein the set of motion metrics indicates that the utility vehicle is currently experiencing angular movement intensity which is above the angular movement intensity threshold.
14. The method of claim 3 , further comprising:
after the at least one motion control parameter of the set of motion control parameters has been changed from the initial value to the updated value and after the utility vehicle has left the stability control geofence, performing a reset operation that resets the at least one motion control parameter of the set of motion control parameters from the updated value back to the initial value.
15. The method of claim 14 , further comprising:
performing a second geofence detection operation based on a second GPS coordinate, a result of the second geofence detection operation indicating that the utility vehicle has re-entered the stability control geofence,
acquiring a new set of motion metrics from the set of motion signals, the new set of motion metrics identifying a new set of current motion characteristics of the utility vehicle,
performing a new stability assessment operation based on the new set of motion metrics, a result of the new stability assessment operation indicating that the utility vehicle is currently not experiencing a reduced stability event, and
maintaining the at least one motion control parameter of the set of motion control parameters at the initial value in response to the result of the second geofence detection operation indicating that the utility vehicle has re-entered the stability control geofence and the result of the stability assessment operation indicating that the utility vehicle is currently not experiencing a reduced stability event.
16. Electronic circuitry to control a utility vehicle, the electronic circuitry comprising:
an electric motor;
motor control circuitry constructed and arranged to operate the electric motor for vehicle propulsion; and
a controller coupled with the motor control circuitry, the controller being constructed and arranged to perform a method of:
setting, within the motor control circuitry, a set of motion control parameters which controls motion of the utility vehicle to a set of initial values,
receiving stability control inputs which include a geolocation signal identifying a current location of the utility vehicle and a set of motion signals identifying a set of current motion characteristics of the utility vehicle, and
based on the geolocation signal and the set of motion signals, changing, within the motor control circuitry, at least one motion control parameter of the set of motion control parameters which controls motion of the utility vehicle from an initial value to an updated value which is different from the initial value.
17. 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, within the utility vehicle propulsion system, a set of motion control parameters which controls motion of the utility vehicle to a set of initial values,
receiving stability control inputs which include a geolocation signal identifying a current location of the utility vehicle and a set of motion signals identifying a set of current motion characteristics of the utility vehicle, and
based on the geolocation signal and the set of motion signals, changing, within the utility vehicle propulsion system, at least one motion control parameter of the set of motion control parameters which controls motion of the utility vehicle from an initial value to an updated value which is different from the initial value.