Adaptive control system capable of recovering from unexpected situations

• US 10,001,760 B1
• Filed: 06/23/2015
• Issued: 06/19/2018
• Est. Priority Date: 09/30/2014
• Status: Active Grant

• Current Assignee: HRL Laboratories LLC (The Boeing Co.)
• Original Assignee: HRL Laboratories LLC (The Boeing Co.)
• Inventors: Hoffmann, Heiko, Payton, David W.
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US14/748,216
• Time in Patent Office: 1,092 Days
• Field of Search: 701 27
• CPC Class Codes: G05B 13/048 using a predictor
• CPC Class Codes: G06F 3/0481 based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
• CPC Class Codes: G06F 3/04817 using icons graphical or visual programming using iconic symbols G06F8/34
• CPC Class Codes: G06F 3/0482 Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06F 8/60 Software deployment
• CPC Class Codes: G06F 8/61 Installation
• CPC Class Codes: G06F 8/62 Uninstallation
• CPC Class Codes: G06F 8/65 Updates security arrangements therefor G06F21/57
• CPC Class Codes: G06F 8/656 while running
• CPC Class Codes: G06F 8/658 Incremental updates; Differential updates
• CPC Class Codes: G06F 8/71 Version control security arrangements therefor G06F21/57; Configuration management
• CPC Class Codes: G06F 9/445 Program loading or initiating bootstrapping G06F9/4401; security arrangements for program loading or initiating G06F21/57
• CPC Class Codes: G06F 9/451 Execution arrangements for user interfaces

Abstract

Described is a system for generating an adaptable predictive model of the dynamics of a complex system, such as a vehicle. A set of current sensory data describing the vehicle'"'"'s current state is collected from the vehicle. A set of predictive models is evaluated to identify a predictive model that best matches the vehicle'"'"'s current state. If a predictive model is identified as a match, then the predictive model is adapted to better fit the vehicle'"'"'s current state, resulting in an adapted predictive model. If a match is not identified, then a new predictive model is generated through automatic model learning using the current set of sensory data. The adapted predictive model or the new predictive model is then used to generate control outputs for the vehicle.

Claims

1. A system for controlling a vehicle using a set of competing adaptable predictive models of the dynamics of the vehicle, the system comprising:

one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when executed, the one or more processors perform operations of;

using each competing adaptable predictive model, generating a set of predicted sensory data based on prior sensory data and prior vehicle control inputs, each competing adaptable predictive model comprising a neural network;

comparing each set of predicted sensory data with subsequent sensory data collected from the vehicle;

using the comparison of each set of predicted sensory data, automatically identifying one of the competing adaptable predictive models as a match;

if a match is identified,

modifying the adaptable predictive model that is the match according to a second set of sensory data, and

controlling the vehicle using control outputs generated using the match; and

if a match is not identified,

generating a new adaptable predictive model through automatic model learning using the second set of sensory data, and

controlling the vehicle using control outputs generated using the new adaptable predictive model.

2. The system as set forth in claim 1, wherein the one or more processors further perform an operation of storing the matching adaptable predictive model or the new adaptable predictive model in a model database comprising the set of competing adaptable predictive models.

3. The system as set forth in claim 2, wherein the one or more processors further perform an operation of comparing a history of sensory data and previous control outputs for each competing adaptable predictive model in the set of competing adaptable predictive models against current sensory data describing the vehicle'"'"'s current state in order to identify a match.

4. The system as set forth in claim 3, wherein the one or more processors further perform an operation of extrapolating current sensory data to new data regions.

5. The system as set forth in claim 4, wherein the one or more processors further perform an operation of using the matching adaptable predictive model in the set of competing adaptable predictive models while the new adaptable predictive model is being generated.

6. The system as set forth in claim 1, wherein j identification of the match in the set of competing adaptable predictive models is performed using a down-selection method that compares the set of competing adaptable predictive models over at least two time intervals of current sensory data, wherein the down-selection method ensures that when selecting a new adaptable predictive model, a selection is made only between those competing adaptable predictive models that are consistent with the history of sensory data.

7. The system as set forth in claim 1, wherein each competing adaptable predictive model is a feed forward neural network.

8. The system as set forth in claim 1, wherein each competing adaptable predictive model is trained or designed for a distinct vehicle driving scenario.

9. The system as set forth in claim 6, wherein a majority of the set of competing adaptable predictive models are compared over a first time interval of current sensory data having a length, and only the matches within that majority are compared over a second time interval of current sensory data within the first time interval having a length that is shorter than the length of the first time interval.

10. The system as set forth in claim 9, wherein the set of competing adaptable predictive models is compared over a cascade of time intervals of current sensory data having progressively shorter time intervals, wherein a number of the set of competing adaptable predictive models compared is progressively reduced.

11. A computer-implemented method for controlling a vehicle using a set of competing adaptable predictive models of the dynamics of the vehicle, comprising:

an act of causing a data processor to execute instructions stored on a non-transitory memory such that upon execution, one or more processors perform operations of;

using each competing adaptable predictive model, generating a set of predicted sensory data based on prior sensory data and prior vehicle control inputs, each competing adaptable predictive model comprising a neural network;

comparing each set of predicted sensory data with subsequent sensory data collected from the vehicle;

using the comparison of each set of predicted sensory data, automatically identifying one of the competing adaptable predictive models as a match;

if a match is identified,

modifying the adaptable predictive model that is the match according to a second set of sensory data, and

controlling the vehicle using control outputs generated using the match; and

if a match is not identified,

generating a new adaptable predictive model through automatic model learning using the second set of sensory data, and

controlling the vehicle using control outputs generated using the new adaptable predictive model.

12. The method as set forth in claim 11, wherein the one or more processors further perform an operation of storing the matching adaptable predictive model or the new adaptable predictive model in a model database comprising the set of competing adaptable predictive models.

13. The method as set forth in claim 12, wherein the one or more processors further perform an operation of comparing a history of sensory data and previous control outputs for each competing adaptable predictive model in the set of competing adaptable predictive models against current sensory data describing the vehicle'"'"'s current state in order to identify a match.

14. The method as set forth in claim 13, wherein the one or more processors further perform an operation of extrapolating current sensory data to new data regions.

15. The method as set forth in claim 14, wherein the one or more processors further perform an operation of using the matching adaptable predictive model in the set of competing adaptable predictive models while the new adaptable predictive model is being generated.

16. The method as set forth in claim 11, wherein the identification of the match in the set of competing adaptable predictive models is performed using a down-selection method that compares the set of competing adaptable predictive models over at least two time intervals of current sensory data, wherein the down-selection method ensures that when selecting a new adaptable predictive model, a selection is made only between those competing adaptable predictive models that are consistent with the history of sensory data.

17. The method as set forth in claim 16, wherein a majority of the set of competing adaptable predictive models are compared over a first time interval of current sensory data having a length, and only the matches within that majority are compared over a second time interval of current sensory data within the first time interval having a length that is shorter than the length of the first time interval.

18. The method as set forth in claim 17, wherein the set of competing adaptable predictive models is compared over a cascade of time intervals of current sensory data having progressively shorter time intervals, wherein a number of the set of competing adaptable predictive models compared is progressively reduced.

19. A computer program product for controlling a vehicle using a set of competing adaptable predictive models of the dynamics of the vehicle, the computer program product comprising computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:

using each competing adaptable predictive model, generating a set of predicted sensory data based on prior sensory data and prior vehicle control inputs, each competing adaptable predictive model comprising a neural network;

comparing each set of predicted sensory data with subsequent sensory data collected from the vehicle;

using the comparison of each set of predicted sensory data, automatically identifying one of the competing adaptable predictive models as a match;

if a match is identified,

modifying the adaptable predictive model that is the match according to a second set of sensory data, and

controlling the vehicle using control outputs generated using the match; and

if a match is not identified,

generating a new adaptable predictive model through automatic model learning using the second set of sensory data, and

controlling the vehicle using control outputs generated using the new adaptable predictive model.

20. The computer program product as set forth in claim 19, further comprising instructions for causing the processor to perform an operation of storing the matching adaptable predictive model or the new adaptable predictive model in a model database comprising the set of competing adaptable predictive models.

21. The computer program product as set forth in claim 20, further comprising instructions for causing the processor to perform an operation of comparing a history of sensory data and previous control outputs for each competing adaptable predictive model in the set of competing adaptable predictive models against current sensory data describing the vehicle'"'"'s current state in order to identify a match.

22. The computer program product as set forth in claim 21, further comprising instructions for causing the processor to perform an operation of extrapolating current sensory data to new data regions.

23. The computer program product as set forth in claim 22, further comprising instructions for causing the processor to perform an operation of using the matching adaptable predictive model in the set of competing adaptable predictive models while the new adaptable predictive model is being generated.

24. The computer program product as set forth in claim 19, wherein the identification of the match in the set of competing adaptable predictive models is performed using a down-selection method that compares the set of competing adaptable predictive models over at least two time intervals of current sensory data, wherein the down-selection method ensures that when selecting a new adaptable predictive model, a selection is made only between those competing adaptable predictive models that are consistent with the history of sensory data.