Vehicle electronic control unit resource utilization during vehicle control

A vehicle comprising:

• a sensor;
• a vehicle plant;
• and
• a processing system comprising:
• a memory comprising computer readable instructions;
• and
• a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing system to perform operations for electronic control unit monitoring and horizon adaptation during vehicle control, the operations comprising:
• receiving data from the sensor of the vehicle;
• determining a reference trajectory for the vehicle and a control horizon;
• segmenting a discretization step into a plurality of steps;
• converting continuous-time dynamics to discrete-time dynamics for one step of the plurality of steps;
• iterating over the plurality of steps to generate discretized dynamics for the discretization step;
• using the discretized dynamics in a model predictive controller to generate desired steering commands for the vehicle;
• and
• causing the vehicle plant to control the vehicle using the desired steering commands generated by the model predictive controller using the discretized matrix.

A computer program product comprising:

• a set of one or more computer-readable storage media;
• program instructions, collectively stored in the set of one or more storage media, for causing a processor set to perform computer operations for electronic control unit (ECU) resource utilization while controlling a vehicle, the operations comprising:
• initiating prediction and control horizons using nominal values;
• monitoring ECU resources;
• determining if a rate of change of task execution at the ECU exceeds a first threshold;
• determining if a rate of change of CPU utilization at the ECU exceeds a second threshold;
• detecting if a CPU task overrun at the ECU is present;
• reducing the prediction and control horizons to generate reduced prediction and control horizons responsive to a determination that any of the rate of change of task execution exceeds the first threshold, the rate of change of CPU utilization exceeds the second threshold, or the CPU task overrun is present;
• determining if the reduced prediction and control horizons are below a minimum acceptable threshold;
• responsive to determining that the reduced prediction and control horizons are not below the minimum acceptable threshold, continuing control operation;
• and
• responsive to determining that the reduced prediction and control horizons are below the minimum acceptable threshold, requesting escalation.