US 12,179,776 B2Granted

Apparatus and method for determining optimal velocity of vehicle

AssigneesHyundai Motor Company, Kia Corporation

InventorHee Yun Lee

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Abstract

An apparatus of determining an optimal velocity of a vehicle, may include an information receiving unit configured to receive and provide vehicle traveling information and traveling environment information which are state variables representing vehicle states required to determine a target velocity for optimizing vehicle fuel economy; and an optimal velocity determination unit configured to determine the target velocity in accordance with a vehicle traveling environment by use of a state variable and reward estimation model and a Q table having values according to the state variables and a control input, from the vehicle traveling information and the traveling environment information provided by the information receiving unit, and a method of determining an optimal velocity of a vehicle.

Claims18

Dependent claims

An apparatus for determining an optimal velocity of a vehicle, the apparatus comprising:

an information receiving unit configured to receive and provide vehicle traveling information and traveling environment information which are state variables representing vehicle states required to determine a target velocity for optimizing vehicle fuel economy;
an optimal velocity determination unit configured to determine the target velocity in accordance with a vehicle traveling environment by use of a state variable and reward estimation model and a Q table having values according the state variables and a control input, from the vehicle traveling information and the traveling environment information provided by the information receiving unit;
and
a control unit configured to control a vehicle velocity to follow the target velocity,
wherein the control unit is configured to select a control input (u) having a smallest Q value among Q values (x, {u1, u2, u3 . . . }) of corresponding state variable and determine the selected control input as an optimal control input (u) to follow the target velocity,
wherein the state variable and reward estimation model unit updates non-linear state variable estimation models through the state variables and a reward cost value,
wherein the reward cost value (gk) is determined, by the following equation, as a value made by applying weighting to each of a function (d(rk+1)) in respect to a time (Δtime) for which the vehicle travels a predetermined unit distance and the distance (rk+1) from a preceding vehicle, and a function (vlimit(vk+1)) in respect to a target velocity deviation, and then summing up a change amount in battery SOC (ΔSOC) and the values to which the weighting is applied,
g
k
+
1
=
(
∫
d
k
d
k
+
1
⁢
S
⁢
O
.
⁢
C
v
⁡
(
d
)
⁢
dd
+
∫
d
k
d
k
+
1
⁢
1
v
⁡
(
d
)
⁢
dd
)
+
η
·
d
⁡
(
r
k
+
1
)
+
ξ
·
v
limit
⁡
(
v
k
+
1
)
=
Δ
⁢
⁢
SOC
+
ω
·
Δ
⁢
⁢
time
+
η
·
d
⁡
(
r
k
+
1
)
+
ξ
·
v
limit
⁡
(
v
k
+
1
)
⁢
⁢
wherein
,
d
⁡
(
r
k
+
1
)
=
{
0
⁢
⁢
if
⁢
⁢
r
k
+
1
>
r
safe
1
r
k
+
1
⁢
⁢
if
⁢
⁢
r
k
+
1
≤
r
safe
,
v
limit
⁡
(
v
k
+
1
)
=
(
v
k
+
1
-
v
ref
)
2
,
Equation
and
ω, η, ξ represent predetermined weighting constants, rsafe represents a safety distance from the preceding vehicle which is predetermined as a constant value, and vref represents a predetermined reference velocity.

176 more elements

A method of determining an optimal velocity of a vehicle, the method comprising:

receiving, by an information receiving unit, vehicle traveling information and traveling environment information which are state variables representing vehicle states required to determine a target velocity for optimizing vehicle fuel economy;
determining, by an optimal velocity determination unit, the target velocity in accordance with a vehicle traveling environment by use of a state variable and reward estimation model and a Q table having values according to the state variables and a control input, from the vehicle traveling information and the traveling environment information provided by the information receiving unit;
and
controlling, by a control unit, a vehicle velocity to follow the target velocity,
wherein the control unit is configured to select a control input (u) having a smallest Q value among Q values (x, {u1, u2, u3 . . . }) of corresponding state variable and determine the selected control input as an optimal control input (u) to follow the target velocity,
wherein the state variable and reward estimation model unit updates non-linear state variable estimation models through the state variables and a reward cost value,
wherein the reward cost value (gk) is determined, by the following equation, as a value made by applying weighting to each of a function (d(rk+1)) in respect to a time (Δtime) for which the vehicle travels a predetermined unit distance and the distance (rk+1) from a preceding vehicle, and a function (vlimit(vk+1) in respect to a target velocity deviation, and then summing up a change amount in battery SOC (ΔSOC) and the values to which the weighting is applied,
g
k
+
1
=
(
∫
d
k
d
k
+
1
⁢
S
⁢
O
.
⁢
C
v
⁡
(
d
)
⁢
dd
+
∫
d
k
d
k
+
1
⁢
1
v
⁡
(
d
)
⁢
dd
)
+
η
·
d
⁡
(
r
k
+
1
)
+
ξ
·
v
limit
⁡
(
v
k
+
1
)
=
Δ
⁢
⁢
SOC
+
ω
·
Δ
⁢
⁢
time
+
η
·
d
⁡
(
r
k
+
1
)
+
ξ
·
v
limit
⁡
(
v
k
+
1
)
⁢
⁢
wherein
,
d
⁡
(
r
k
+
1
)
=
{
0
⁢
⁢
if
⁢
⁢
r
k
+
1
>
r
safe
1
r
k
+
1
⁢
⁢
if
⁢
⁢
r
k
+
1
≤
r
safe
,
v
limit
⁡
(
v
k
+
1
)
=
(
v
k
+
1
-
v
ref
)
2
,
Equation
ω, η, ξ represent predetermined weighting constants, rsafe represents a safety distance from the preceding vehicle which is predetermined as a constant value, and vref represents a predetermined reference velocity.

175 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/405,867Filed 18 Aug 2021
Priority: KR 10-2020-018558629 Dec 2020
Published: US 2022/0203997 A130 Jun 2022
Granted: 31 Dec 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification20 codes

B60W 30/143
Adaptive cruise control: speed control
B60W 40/10
Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a…:…
B60W 40/04
Related to ambient conditions: traffic conditions
B60W 60/0023
Planning or execution of driving tasks: in response to energy consumption

Family

US 2022/0203997 A1Pre-grant publication · published 30 Jun 2022
US 12,179,776 B2This patent

From the US filing history. Foreign family members aren’t listed.

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