Model predictive control apparatus

A model predictive control apparatus for a host automotive vehicle, comprising:

• a sensing section configured to detect a target vehicle present around the host vehicle, and to measure a state of a physical system including the host vehicle and the target vehicle;
• and
• a control unit connected electrically to the sensing section for receiving a sensing signal indicative of the measured system state, the control unit comprising:
• a system behavior prediction section configured to perform the following:
• predicting a future time series of the system state over a prediction horizon of time in accordance with the measured system state, and a future time series of a control input to the host vehicle over a control horizon of time;
• an objective function reference section configured to perform the following:
• providing a normal value of function definition data defining a normal objective function, the function definition data defining an objective function configured to provide a quantitative measure, in accordance with the time series system state, the time series control input, and a time series of a setpoint of the system state over the prediction horizon;
• providing an initial value of the function definition data defining an initial objective function;
• and
• providing a current value of the function definition data defining a current objective function;
• an initial solution generation section configured to perform the following:
• setting the current function definition data value to the initial function definition data value;
• generating an initial optimal value of the time series control input in accordance with the initial function definition data value, without reference to a candidate value of the time series control input;
• setting an optimal value of the time series control input to the initial optimal value of the time series control input;
• and
• setting the next candidate value of the time series control input to the initial optimal value of the time series control input;
• an optimization section configured to perform the following:
• calculating an optimal value of a time series control input correction over the control horizon in accordance with the current function definition data value, and the candidate value of the time series control input, the control input correction being a differential between the control input and the candidate control input value;
• setting the optimal value of the time series control input to a sum of the candidate value of the time series control input and the optimal value of the time series control input correction;
• and
• setting the next candidate value of the time series control input;
• an abnormality handling section configured to perform the following:
• determining whether or not the performed optimization in the optimization section is abnormal;
• and
• performing the initial solution generation when it is determined that the performed optimization is abnormal;
• an objective function adjustment section configured to perform the following:
• comparing the current function definition data value with the normal function definition data value;
• and
• adjusting the current function definition data value so that the current objective function varies stepwise with time toward the normal objective function when it is determined that the current function definition data value is different from the normal function definition data value;
• and
• an output section configured to perform the following:
• determining a recommended value of the control input in accordance with the optimal value of the time series control input;
• and
• outputting an output signal in accordance with the recommended value of the control input.

A model predictive control apparatus comprising:

• sensing means for measuring a state of a physical system;
• and
• control means for receiving a sensing signal indicative of the measured system state, the control means comprising:
• system behavior prediction means for performing the following:
• predicting a future time series of the system state over a prediction horizon of time in accordance with the measured system state, and a future time series of a control input to the system over a control horizon of time;
• objective function reference means for performing the following:
• providing a normal value of function definition data defining a normal objective function, the function definition data defining an objective function configured to provide a quantitative measure, in accordance with the time series system state, the time series control input, and a time series of a setpoint of the system state over the prediction horizon;
• providing an initial value of the function definition data defining an initial objective function;
• and
• providing a current value of the function definition data defining a current objective function;
• initial solution generation means for performing the following:
• setting the current function definition data value to the initial function definition data value;
• generating an initial optimal value of the time series control input in accordance with the initial function definition data value, without reference to a candidate value of the time series control input;
• setting an optimal value of the time series control input to the initial optimal value of the time series control input;
• and
• setting the next candidate value of the time series control input to the initial optimal value of the time series control input;
• optimization means for performing the following:
• calculating an optimal value of a time series control input correction over the control horizon in accordance with the current function definition data value, and the candidate value of the time series control input, the control input correction being a differential between the control input and the candidate control input value;
• setting the optimal value of the time series control input to a sum of the candidate value of the time series control input and the optimal value of the time series control input correction;
• and
• setting the next candidate value of the time series control input;
• abnormality handling means for performing the following:
• determining whether or not the performed optimization in the optimization means is abnormal;
• and
• performing the initial solution generation when it is determined that the performed optimization is abnormal;
• objective function adjustment means for performing the following:
• comparing the current function definition data value with the normal function definition data value;
• and
• adjusting the current function definition data value so that the current objective function varies stepwise with time toward the normal objective function when it is determined that the current function definition data value is different from the normal function definition data value;
• and
• output means for performing the following:
• determining an output value of the control input in accordance with the optimal value of the time series control input;
• and
• outputting an output signal in accordance with the output value of the control input.

A method of controlling a model predictive control apparatus including a sensing section configured to measure a state of a physical system, and a control unit connected electrically to the sensing section for receiving a sensing signal indicative of the measured system state, the method comprising:

• predicting a future time series of the system state over a prediction horizon of time in accordance with the measured system state, and a future time series of a control input to the system over a control horizon of time;
• providing a normal value of function definition data defining a normal objective function, the function definition data defining an objective function configured to provide a quantitative measure, in accordance with the time series system state, the time series control input, and a time series of a setpoint of the system state over the prediction horizon;
• providing an initial value of the function definition data defining an initial objective function;
• providing a current value of the function definition data defining a current objective function;
• setting the current function definition data value to the initial function definition data value;
• generating an initial optimal value of the time series control input in accordance with the initial function definition data value, without reference to a candidate value of the time series control input;
• setting an optimal value of the time series control input to the initial optimal value of the time series control input;
• setting the next candidate value of the time series control input to the initial optimal value of the time series control input;
• calculating an optimal value of a time series control input correction over the control horizon in accordance with the current function definition data value, and the candidate value of the time series control input, the control input correction being a differential between the control input and the candidate control input value;
• setting the optimal value of the time series control input to a sum of the candidate value of the time series control input and the optimal value of the time series control input correction;
• setting the next candidate value of the time series control input;
• determining whether or not the performed optimization is abnormal;
• performing the initial optimal value generation when it is determined that the performed optimization is abnormal;
• comparing the current function definition data value with the normal function definition data value;
• adjusting the current function definition data value so that the current objective function varies stepwise with time toward the normal objective function when it is determined that the current function definition data value is different from the normal function definition data value;
• determining an output value of the control input in accordance with the optimal value of the time series control input;
• and
• outputting an output signal in accordance with the output value of the control input.