On-board real-time speed control setpoint variation using stochastic optimization

• US 8,930,116 B2
• Filed: 02/26/2013
• Issued: 01/06/2015
• Est. Priority Date: 02/26/2013
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), Board of Regents of the University of Michigan (University of Michigan)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company), Board of Regents of the University of Michigan (University of Michigan)
• Inventors: Filev, Dimitar P., Kolmanovsky, Ilya, McDonough, Kevin, Szwabowski, Steven J., Michelini, John O., Yanakiev, Diana, Abou-Nasr, Mahmoud
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US13/777,049
• Publication Number:
  US 20140244130A1
• Time in Patent Office: 679 Days
• Field of Search: 701 93- 96, 701/400, 701/408, 701/409, 701/423, 701/448, 701/450, 701/461, 701/300, 701/301, 180170-179
• US Class Current: 701/96
• CPC Class Codes: B60K 2310/244 changing target speed or setting a new target speed, e.g. changing algorithms
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60W 2050/0083 Setting, resetting, calibration
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: Y02T 10/40 Engine management systems
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

Vehicle apparatus adjusts a vehicle powertrain of the vehicle in response to a speed setpoint. An optimizer selects a control policy to periodically generate speed adjustments for applying to the speed setpoint to operate at increased efficiency. The control policy is based on a value function providing an optimized solution for a cost model and a transition probability model. The transition probability model corresponds to a driving state defined according to a plurality of dimensions including a time-of-day dimension and a geographic region dimension. The transition probability model and the control policy have inputs based on road grade and speed. The optimizer collects road grade data during routine driving of the vehicle to construct a observed transition probability model and uses divergence between the observed transition probability model and a set of predetermined transition probability models to identify a control policy for use during the routine driving.

Claims

1. Vehicle apparatus comprising:

a speed control for adjusting a vehicle powertrain of the vehicle in response to a speed setpoint; and

an optimizer for selecting a control policy to periodically generate speed adjustments for applying to the speed setpoint to operate the vehicle powertrain at increased efficiency, wherein the control policy is based on a value function providing an optimized solution for a cost model and a transition probability model, wherein the transition probability model corresponds to a driving state defined according to a plurality of dimensions including a time-of-day dimension and a geographic region dimension, wherein the transition probability model and the control policy have inputs based on road grade and speed, wherein the optimizer collects road grade data during routine driving of the vehicle to construct an observed transition probability model and uses divergence between the observed transition probability model and a set of predetermined transition probability models to identify a control policy for use during the routine driving.

2. The vehicle apparatus of claim 1 wherein the speed control automatically modifies the speed setpoint in response to the periodically generated speed adjustments.

3. The vehicle apparatus of claim 1 wherein the optimizer provides a speed adjustment advisory to an operator of the vehicle in response to the periodically generated speed adjustments.

4. The vehicle apparatus of claim 1 wherein the plurality of dimensions further includes a predetermined following distance.

5. The vehicle apparatus of claim 1 wherein the control policy further includes an input based on a relative following distance from traffic.

6. The vehicle apparatus of claim 1 wherein the optimizer includes a database of control policies corresponding to respective driving states, and wherein the optimizer selects the control policy according to a KL divergence between the observed transition probability model and predetermined transition probability models associated with each of the respective control policies.

7. A method of controlling a speed setpoint of a speed control for a vehicle, comprising the steps of:

collecting road grade and vehicle speed data during routine operation of the vehicle;

repeatedly updating an observed transition probability model for the road grade and vehicle speed as the data is collected;

detecting convergence between different updates of the observed transition probability model;

determining respective divergences between the converged observed model and a plurality of predetermined transition probability models in order to identify a predetermined transition probability model for which a divergence is less than a threshold;

retrieving a predetermined control policy corresponding to the identified predetermined transition probability model, wherein each predetermined control policy represents an optimized value function for reducing a cost function of operating the vehicle under a driving state corresponding to the identified predetermined transition probability model; and

applying the control policy to identify offsets to the speed setpoint in the speed control in response to an instantaneous road grade and vehicle speed.

8. The method of claim 7 wherein the control policy is further optimized to provide a predetermined following distance.

9. The method of claim 7 wherein convergence of the observed transition probability model is detected in response to KL divergence between the different updates being less than a convergence threshold.

10. The method of claim 7 wherein the divergences between the observed transition probability model and each of the predetermined transition probability models are detected in response to KL divergence.

11. The method of claim 7 further comprising the step of automatically modifying the speed setpoint of the speed control in response to the identified offsets.

12. The method of claim 7 further comprising the step of generating a speed adjustment advisory to an operator of the vehicle in response to the identified offsets.

13. Vehicle apparatus comprising:

a speed control for operating the vehicle at a speed setpoint; and

an optimizer for selecting a control policy that periodically generates speed adjustments for applying to the speed setpoint to operate at an increased average efficiency, wherein the control policy is valid for vehicle driving conditions characterized by a corresponding transition probability model, wherein the transition probability model and the control policy have inputs based on road grade and speed, wherein the optimizer collects operating condition data during routine driving of the vehicle to construct an observed transition probability model that corresponds to a driving state defined according to a plurality of dimensions including a geographic region dimension, and wherein the optimizer compares the observed transition probability model to a set of predetermined transition probability models each having a corresponding control policy in order to identify the control policy to be used during the routine driving.

14. The vehicle apparatus of claim 13 wherein the speed control is comprised of a driver-operated pedal, and wherein the speed adjustments are presented to a driver as a recommendation to the speed setpoint being maintained by the driver via the pedal.

15. The vehicle apparatus of claim 13 wherein the speed control is comprised of an automatic cruise control, and wherein the speed adjustments are applied to the speed setpoint being maintained by the automatic cruise control.