Method for speed control

A control device for speed control of a ground-based vehicle, the control device comprising:

• a computing device having a processor, wherein the processor is configured to perform operations including:
• executing a speed planner comprising a macro-planner algorithm and a meso-planner algorithm, the macro-planner algorithm performing rapid forward-backward speed planning on a first distance horizon, and the meso-planner algorithm optimizing driving time and energy consumption using an open source optimization solver on a second distance horizon,
• executing a micro-planner algorithm comprising model-predictive control (MPC) performing distance control relative to a vehicle driving ahead of the ground-based vehicle,
• calculating, via the macro-planner algorithm or the meso-planner algorithm, a speed setpoint value based on roadway conditions, driver conditions, and drivetrain conditions of the ground-based vehicle,
• optimizing, via the micro-planner algorithm based on a distance from the vehicle driving ahead of the ground-based vehicle, the calculated speed setpoint value generating a final speed setpoint value, and
• operating the ground-based vehicle using the final speed setpoint value.

A computer-implemented method, comprising:

• executing, via a processor, a macro-planner algorithm performing rapid forward-backward speed planning on a first distance horizon;
• executing, via the processor, a meso-planner algorithm optimizing driving time and energy consumption using an open source optimization solver on a second distance horizon,
• executing, via the processor, a micro-planner algorithm comprising model-predictive control (MPC) that performs distance control relative to a vehicle driving ahead of the ground-based vehicle;
• calculating, on the processor via the macro-planner algorithm or the meso-planner algorithm, a speed setpoint value based on roadway conditions, driver conditions, and drivetrain conditions of the ground-based vehicle;
• optimizing, on the processor via the micro-planner algorithm by performing model-predictive distance and speed control relative to a vehicle driving ahead of the ground-based vehicle, the calculated speed setpoint value to generate a final speed setpoint value;
• and
• operating, via the processor, a ground-based vehicle using the final speed setpoint value.