Toyota Motor Engineering & Manufacturing North America, Inc.

University of Michigan

Mitsubishi Electric Research Laboratories, Inc.

Di Chen

Mike Xuli Huang

Stefano Di Cairano

Anna G Stefanopoulou

Claus Danielson

Yushi Shibaike

Shengqi Zhang

A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.

System and method for controlling motion of a vehicle technical field

A vehicle control method in a hybrid electric vehicle including an internal combustion engine, a battery, an electric motor, and a control unit. The method includes estimating an estimated vehicle velocity trajectory, estimating an initial engine power trajectory, simulating state of charge of the battery with the vehicle velocity trajectory and the initial engine power trajectory, estimating an initial terminal co-state value, simulating backward co-state dynamics using the state of charge and vehicle velocity trajectory, to obtain a resulting co-state trajectory. The co-state trajectory is used to solve a minimization control and propagate state of charge dynamics forward in time. The method includes updating control and the co-state trajectory, adjusting the terminal co-state value, and controlling a usage of the battery and the internal combustion engine. The method can be performed to optimize the engine power trajectory to minimize fuel consumption in real time.

Stabilized real time trajectory optimization for hybrid energy management utilizing connected information technologies

The disclosure is directed to solving a full trajectory optimization problem in real-time for a hybrid electric vehicle (HEV) such that future driving conditions and energy usage may be fully considered in determining optimal engine energy usage and battery energy usage in real-time during a trip. An electronic control unit of the HEV may be configured to: receive route information for a route to be driven by the HEV; and after receiving the route information, iterating the operations of: measuring a current state of charge (SOC) of the battery; using at least the measured SOC and an initial co-state value stored in a memory, performing a process to iteratively update the co-state value to obtain an updated co-state value; using at least the updated co-state value, computing an updated control value; and applying the updated control value to control a usage of the battery and the internal combustion engine.

Real time trajectory optimization for hybrid energy management utilizing connected information technologies

Growing community of inventors

Ann Arbor, MI, United States of America

Di Chen