Gain optimization and selection for vehicle systems

A vehicle system for selecting a gain set for controlling a vehicle, the vehicle system comprising:

• a plurality of sensors configured to detect one or more vehicle characteristics;
• and
• a control module in communication with the plurality of sensors and including a first model and a second model, the control module configured to:
• receive a plurality of optimized gain sets for a plurality of different driving conditions, each gain set including one or more values representing a relationship between an input to the control module and an output of the control module;
• determine a current driving condition associated with the vehicle based on the one or more vehicle characteristics;
• select a gain set of the plurality of optimized gain sets based on the current driving condition associated with the vehicle, the selected gain set including a first subset for the first model and a second subset for the second model;
• determine a first vehicle control state using the first model based on the first subset of the gain set,
• determine a second vehicle control state using the second model based on the first vehicle control state and the second subset of the gain set, and
• generate a control signal based on the second vehicle control state for controlling at least one operation of the vehicle.

A control method for selecting a gain set for controlling a vehicle, the control method comprising:

• optimizing a plurality of gain sets for a plurality of different driving conditions, including separately optimizing a first subset of the plurality of gain sets for a first model and a second subset of the plurality of gain sets for a second model;
• determining a current driving condition associated with the vehicle based on one or more vehicle characteristics;
• selecting a gain set of the plurality of optimized gain sets based on the determined driving condition associated with the vehicle;
• determine a first vehicle control state using the first model based on the first subset of the plurality of gain sets;
• determine a second vehicle control state using the second model based on the first vehicle control state and the second subset of the plurality of gain sets;
• and
• generating a control signal based on the second vehicle control state for controlling at least one operation of the vehicle.