AN ON-BOARD CONTROL SYSTEM FOR OPERATING A VEHICLE

Abstract

The present disclosure relates to an on-board control system (200) for operating a vehicle (100, 102, 104), the control system (200) comprising processing circuitry (202) and a plurality of sensors (204, 206, 208) arranged with the vehicle (100). The control system (200) employs e.g. a general vehicle control model (M) for operating the vehicle (100, 102, 104), where the vehicle control model (M) is specifically adapted for the vehicle (100, 102, 104) based on an ongoing operation of the vehicle (100, 102, 104). The present disclosure also relates to a corresponding computer implemented method and to a computer program product.

Claims

1. An on-board control system (200) for operating a vehicle (100, 102, 104), the control system (200) comprising processing circuitry (202) and a plurality of sensors (204, 206, 208) arranged with the vehicle (100), the processing circuitry (200) arranged in communication with the plurality of sensors (204, 206, 208), wherein the processing circuitry (202) is adapted to: receive a reference control value (V1) for operating the vehicle (100), receive vehicle state values (V2, V2′, V2″) from the plurality of sensors (204, 206, 208), provide the reference control value (V1) and the vehicle state values (V2, V2′, V2″) as inputs to a vehicle control model (M), wherein the vehicle control model (M) is adapted to form a compensation control value (CCV) for operating the vehicle (100), operate the vehicle (100) based on a combination of the reference control value (V1) and the compensation control value (CCV), receive vehicle data (VD) resulting from the operation of the vehicle (100), determine a difference (A) between the reference control value (V1) and the vehicle data (VD), and update the vehicle control model (M) if the determined difference (A) is above a predetermined threshold (T).

2. The system according to claim 1, wherein the processing circuitry implements a control function and the control function receives the difference between the reference control value and the vehicle data.

3. The system according to claim 2, wherein the control function is implemented as a PID controller.

4. The system according to any one of claims 2 and 3, wherein an output from the control function is combined with the compensation control value for forming a control signal, and the control signal is applied to operate the vehicle.

5. The system according to any one of the preceding claims, wherein the reference control value is a desired acceleration value and or a desired speed value for the vehicle.

6. The system according to any one of the preceding claims, wherein the vehicle state values are selected from a group comprising one or a plurality of a road inclination, a vehicle mass, a speed of the vehicle, power limits for the vehicle, gear box ratio.

7. The system according to any one of the preceding claims, wherein the vehicle data is a measured output resulting from the operation of the vehicle.

8. The system according to any one of the preceding claims, wherein the predetermined threshold is dependent on the reference control value.

9. The system according to claim 1, wherein the updated vehicle control model is transmitted to a remote server arranged off-board the vehicle arranged in networked communication with the processing circuitry.

10. The system according to claim 1, wherein an initial vehicle control model is received from a remote server off-board the vehicle arranged in networked communication with the processing circuitry.

11. A vehicle, comprising an on-board control system according to any one of claims 1-10.

12. The vehicle according to claim 11, wherein the vehicle is a truck (100), a bus (102) or a working machine (104).

13. The vehicle according to any one of claims 10 and 11, wherein the vehicle is autonomously operated.

14. A computer implemented method for operating a control system arranged on-board a vehicle, the control system comprising processing circuitry and a plurality of sensors arranged with the vehicle, the processing circuitry arranged in communication with the plurality of sensors, wherein the method comprises the steps of: receiving (S1), at the processing circuitry, a reference control value for operating the vehicle, receiving (S2), at the processing circuitry, vehicle state values from the plurality of sensors, providing (S3), by the processing circuitry, the reference control value and the vehicle state values as inputs to a vehicle control model, wherein the vehicle control model is adapted to form a compensation control value for operating the vehicle, operating (S4), by the processing circuitry, the vehicle based on a combination of the reference control value and the compensation control value, receiving (S5), at the processing circuitry, vehicle data resulting from the operation of the vehicle, determining (S6), at the processing circuitry, a difference between the reference control value and the vehicle data, and updating (S7), at the processing circuitry, the vehicle control model if the determined difference is above a predetermined threshold.

15. The method according to claim 14, wherein the processing circuitry implements a control function and the control function receives the difference between the reference control value and the vehicle data.

16. The method according to claim 15, wherein the control function is implemented as a PID controller.

17. The method according to any one of claims 15 and 16, wherein an output from the control function is combined with the compensation control value for forming a control signal, and the control signal is applied to operate the vehicle.

18. The method according to any one of claims 14-17, wherein the reference control value is a desired acceleration value and or a desired speed value for the vehicle.

19. The method according to any one of claims 14-18, wherein the vehicle state values are selected from a group comprising one or a plurality of a road inclination, a vehicle mass, a speed of the vehicle, power limits for the vehicle, gear box ratio.

20. The method according to any one of claims 14-19, wherein the vehicle data is a measured output resulting from the operation of the vehicle.

21. The method according to any one claims 14-20, wherein the predetermined threshold is dependent on the reference control value.

22. The method according to claim 14, wherein the updated vehicle control model is transmitted to a remote server arranged off-board the vehicle arranged in networked communication with the processing circuitry.

23. The method according to claim 14, wherein an initial vehicle control model is received from a remote server off-board the vehicle arranged in networked communication with the processing circuitry.

24. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for operating a control system arranged on-board a vehicle, the control system comprising processing circuitry and a plurality of sensors arranged with the vehicle, the processing circuitry arranged in communication with the plurality of sensors, wherein the computer program product comprises: code for receiving, at the processing circuitry, a reference control value for operating the vehicle, code for receiving, at the processing circuitry, vehicle state values from the plurality of sensors, code for providing, by the processing circuitry, the reference control value and the vehicle state values as inputs to a vehicle control model, wherein the vehicle control model is adapted to form a compensation control value for operating the vehicle, code for operating, by the processing circuitry, the vehicle based on a combination of the reference control value and the compensation control value, code for receiving, at the processing circuitry, vehicle data resulting from the operation of the vehicle, code for determining, at the processing circuitry, a difference between the reference control value and the vehicle data, and code for updating, at the processing circuitry, the vehicle control model if the determined difference is above a predetermined threshold.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] With reference to the appended drawings, below follows a more detailed description of embodiments of the present disclosure cited as examples.

[0025] In the drawings:

[0026] FIG. 1A illustrates a truck, 1B a bus and 1C a wheel loader in which the control system according to the present disclosure may be incorporated;

[0027] FIG. 2 illustrates a conceptual control system in accordance to a currently preferred embodiment of the present disclosure; and

[0028] FIG. 3 illustrates the processing steps for performing the method according to the present disclosure.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE INVENTION

[0029] The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the present disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and fully convey the scope of the disclosure to the skilled addressee. Like reference characters refer to like elements throughout.

[0030] Referring now to the drawings and to FIG. 1A in particular, there is depicted an exemplary vehicle, here illustrated as a truck 100, in which a control system 200 (as shown in FIG. 2) according to the present disclosure may be incorporated. The control system 200 may of course be implemented, possibly in a slightly different way, in a bus 102 as shown in FIG. 1B, wheel loader as shown in FIG. 1C, a car, a bus, etc.

[0031] The vehicle may for example be one of an electric or hybrid vehicle, or possibly a gas, gasoline or diesel vehicle. The vehicle comprises an electric machine (in case of being an electric or hybrid vehicle) or an engine (such as an internal combustion engine in case of being a gas, gasoline or diesel vehicle). The vehicle may further be manually operated, fully or semi-autonomous.

[0032] FIG. 2 shows a conceptual and exemplary implementation of the control system 200, comprising a processing circuitry 202, such as an electronic control unit (ECU), adapted for operating e.g. any one of the vehicles 100, 102, 104. The ECU 202 implements an interface for receiving data from a plurality of sensors 204, 206, 208, such as e.g. for measuring one of a speed, an acceleration, an inclination, a torque, etc. of the vehicle 100, 102, 104. The control system 200 may further comprise a database (not shown) for storing a vehicle control model to be used by the ECU 202 in operating the vehicle. The control system 200 may also be provided with an interface for allowing the vehicle control model to be received at and transmitted from the ECU 202, such as from and to a remotely located server (not shown).

[0033] For reference, the ECU 202 may for example be manifested as a general-purpose processor, an application specific processor, a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, a field programmable gate array (FPGA), etc. The processor may be or include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory. The memory may be one or more devices for storing data and/or computer code for completing or facilitating the various methods described in the present description. The memory may include volatile memory or non-volatile memory. The memory may include database components, object code components, script components, or any other type of information structure for supporting the various activities of the present description. According to an exemplary embodiment, any distributed or local memory device may be utilized with the systems and methods of this description. According to an exemplary embodiment the memory is communicably connected to the processor (e.g., via a circuit or any other wired, wireless, or network connection) and includes computer code for executing one or more processes described herein.

[0034] During operation of the control system 200 for controlling the operation of the vehicle 100, 102, 104, with further reference to FIG. 3, the ECU 202 is “loaded” with the vehicle control model, M. As mentioned, the vehicle control model, M, may be seen as a generalized expectation of how a function of the vehicle 100, 102, 104. The vehicle control model, M, may, as also mentioned, be received from e.g. a remote server, or at the time of manufacture of the vehicle 100, 102, 104.

[0035] Initially, e.g. the driver or an autonomy process of the vehicle 100, 102, 104 sets a reference control value V1 for operating the vehicle 100, 102, 104, such as e.g. one of a speed or an acceleration for the vehicle 100, 102, 104. The reference control value V1 is received, S1, at the ECU 202. The ECU 202 also receives, S2, vehicle state values V2, V2′, V2″ from the plurality of sensors 204, 206, 208, such as from sensors adapted for measuring one of a speed, an acceleration, an inclination, a torque, etc. of the vehicle 100, 102, 104. Other data may be provided, such as e.g. a weight of the vehicle 100, 102, 104, etc.

[0036] In line with the present disclosure, the reference control value V1 and the vehicle state values V2, V2′, V2″ are then provided, S3, as inputs to the vehicle control model, M, which may be seen as e.g. a mathematical representation or set of processing steps of the function of the vehicle. The vehicle control model, M, is in turn adapted to form a compensation control value, CCV. The vehicle 100, 102, 104 is then operated, S4, based on a combination of the reference control value V1 and the compensation control value, CCV.

[0037] As indicated above, the ECU 202 preferably implements a control function. The control function, for example implemented as a PID controller, typically receives the reference control value V1 as well as data relating to the present operation of the vehicle 100, 102, 104. The control function then operates to reduce the difference between e.g. the desired speed (i.e. the reference control value V1) and a current speed of the vehicle 100, 102, 104. However, in line with the present disclosure the vehicle control model, M, is used for introduce a dynamic compensation factor, i.e. the compensation control value, CCV, between the output from the control function and the function of the vehicle 100, 102, 104 that is to be controlled.

[0038] Furthermore, following the operation of the vehicle 100, 102, 104, the ECU 202 receives, S5, vehicle data VD resulting from the operation of the vehicle 100, 102, 104. The vehicle data VD may typically be seen as how the vehicle currently is behaving as compared to the reference control value V1. Accordingly, a difference A is determined, S6, between the vehicle data VD and the reference control value V1. If the difference then is determined to above a predetermined threshold (e.g. the difference is larger than what is desirable), this means that the vehicle control model M is to be updated, S7.

[0039] The scheme according to the present disclosure may thus be seen as a constant recording of different operation points x while the control system 200 runs. This set of samples is then used to recursively regress to a function that describes the operation of the functionality of the vehicle that is described using the vehicle control model, M. It is thus desirable to adapt the vehicle control model M such that an uncertainty of the model is equal to a real uncertainty for the actual operation of the vehicle 100, 102, 104.

[0040] Accordingly, in case the control system 200 is operated “long enough” (time co), then the output from the control function (such as implemented as the exemplified PID controller) tends to go towards zero. This will thus mean that the vehicle control model M provides a correct compensation control value CCV for the present operational condition for the vehicle 100, 102, 104.

[0041] The present disclosure contemplates methods, devices and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor.

[0042] By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a machine, the machine properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data that cause a general-purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

[0043] Although the figures may show a specific order of method steps, the order of the steps may differ from what is depicted. In addition, two or more steps may be performed concurrently or with partial concurrence. Such variation will depend on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps.

[0044] Additionally, even though the disclosure has been described with reference to specific exemplifying embodiments thereof, many different alterations, modifications and the like will become apparent for those skilled in the art.

[0045] Variations to the disclosed embodiments can be understood and effected by the skilled addressee in practicing the claimed disclosure, from a study of the drawings, the disclosure, and the appended claims. Furthermore, in the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality.