Vehicle predictive control method with improved computational processing and vehicle driving control system using the same
AssigneesHyundai Motor Company, Kia Corporation
InventorMin Soo Woo
Life of this patent
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Abstract
Disclosed herein is a vehicle predictive control method that includes determining a driving prediction horizon in front of a vehicle, dividing the driving prediction horizon into a plurality of steps, at least some of the steps corresponding to a sloped section being integrated into one step according to slopes, and applying a driving prediction model based on a relationship between states of vehicle speed, traction force, and braking force for each step and collectively computing the driving prediction model over the entire prediction horizon to calculate a control value for the vehicle.
Claims11
A method of providing vehicle predictive control, comprising:
- determining a driving prediction horizon in front of a vehicle;
- dividing the driving prediction horizon into a plurality of steps, applying a driving prediction model, which is based on a relationship between state variable of vehicle speed and input variables of a traction force and a braking force, for each step of the plurality of steps;
- and
- collectively computing the driving prediction model over the prediction horizon to calculate control values for the vehicle, and
- wherein dividing the driving prediction horizon into a plurality of steps comprises:
- dividing the prediction horizon into L steps;
- approximating slope data corresponding to the sloped section by N linear functions;
- determining M damping steps among the L steps before and after the point at which an approximate slope(θ) of the linear function changes;
- determining N integration steps by integrating steps having the same approximate slope of the linear function into one step according to the N linear functions;
- and
- determining the plurality of steps based on the M damping steps and N integration steps.
A vehicle driving control system comprising:
- a driving strategy control unit configured to:
- collect curvature and slope information, speed limit information, and enforcement camera location information for a road section in a forward driving prediction horizon;
- and
- collect distance information from a preceding vehicle from a sensor to calculate a control value for a vehicle from a driving prediction model for the driving prediction horizon using at least one of an average vehicle speed constraint, a vehicle driving speed band constraint, a motor constraint for vehicle speed, a safe distance constraint from a preceding vehicle, and a vehicle speed constraint for road curvature;
- and
- a driving assistance unit configured to output a control signal for a motor and a brake based on the control value,
- wherein the driving strategy control unit is configured to:
- dividing the prediction horizon into L steps;
- approximating slope data corresponding to the sloped section by N linear functions;
- determining M damping steps among the L steps before and after the point at which an approximate slope(θ) of the linear function changes;
- determining N integration steps by integrating steps having the same approximate slope of the linear function into one step according to the N linear functions;
- and
- determining the plurality of steps based on the M damping steps and N integration steps;
- and
- apply the driving prediction model for each step, of the plurality of steps, and collectively compute the driving prediction model over the driving prediction horizon to calculate the control value.
Dependencies are inferred from the claim text.