US 12,311,912 B2
Method and a system for controlling a vehicle on a mission
Johannes Ritzmann, Bulach (CH); Oscar Chinellato, Tubach (CH); Georg Lins, Wallisellen (CH); Mauro Salazar, Breganzona (CH); and Christopher Onder, Weisslingen (CH)
Assigned to FPT MOTORENFORSCHUNG AG, Arbon (CH)
Appl. No. 17/924,531
Filed by FPT MOTORENFORSCHUNG AG, Arbon (CH)
PCT Filed May 14, 2021, PCT No. PCT/IB2021/054153
§ 371(c)(1), (2) Date Nov. 10, 2022,
PCT Pub. No. WO2021/229526, PCT Pub. Date Nov. 18, 2021.
Claims priority of application No. 102020000011254 (IT), filed on May 15, 2020.
Prior Publication US 2023/0347865 A1, Nov. 2, 2023
Int. Cl. B60W 20/11 (2016.01); B60W 10/06 (2006.01); B60W 10/08 (2006.01); B60W 20/16 (2016.01); B60W 30/188 (2012.01); B60W 50/00 (2006.01)
CPC B60W 20/11 (2016.01) [B60W 10/06 (2013.01); B60W 10/08 (2013.01); B60W 20/16 (2016.01); B60W 30/188 (2013.01); B60W 50/00 (2013.01); B60W 2050/0031 (2013.01); B60W 2510/0208 (2013.01); B60W 2510/0638 (2013.01); B60W 2510/0666 (2013.01); B60W 2510/085 (2013.01); B60W 2510/1005 (2013.01); B60W 2510/244 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle (101) on a mission, the vehicle (101) comprising a first and a second power source (ICE, EM) for driving the vehicle (101) itself, wherein the first power source comprises a heat engine (ICE) configured to generate power from fuel and an after treatment system (ATS) coupled to the engine (ICE),
the method comprising the steps of:
solving a convex first optimal control problem based on a mathematical model of the vehicle (101), said first optimal control problem involving a set of state variables (ξ, ϑATS, mNOxtp), a set of constraints, and a cost function having control variables (P, igb, iATS, bATS) that include at least one discrete variable (igb, iATS, bATS) and at least one continuous variable (P),
the solving including an initial determination or guess (110; 210, 211) of the at least one discrete variable (igb, iATS, bATS) and an iterative execution of
a) minimizing (111; 212) the cost function, after replacement of the at least one discrete variable, with respect to the at least one continuous variable (P) and subject to the set of constraints, based on a determination of a set of optimal costate variables (λξ, λϑ, λNOx) associated to the set of state variables (ξ, ϑATS, mNOxtp);
b) updating (114; 211) the at least one discrete variable (igb, iATS, bATS) based on the determined set of optimal costates in step a);
c) verifying (112; 212) the satisfaction of a convergence criterion based on a result of step a), and
d) repeating step a) based on the updating of step b) if the convergence criterion is not satisfied or exiting from the iterative execution otherwise, and
controlling the vehicle (101) based on the solution of said first optimal control problem,
wherein said set of state variables (ξ, ϑATS, mNOxtp) includes a first state variable (mNOxtp) indicative of an operation of the after treatment system (ATS), a second state variable (ξ) indicative of a state of a charge of a battery, and a third state variable (ϑATS), indicative of a temperature of the after treatment system;
wherein said control variables include a first discrete variable (igb) indicative of an operative mode of the vehicle (101), a second discrete variable (iATS), a binary value (bATS) indicative of either a region which no pollution reduction occurs regardless of a value of the second discrete variable (iATS), or further regions, wherein each value of the second discrete variable (iATS) identifies one of the further regions, and a first continuous variable indicative of a power (P) supplied by at least one of said first and second power source (ICE, EM);
and wherein the cost function is determined for at least a part of the mission and is representative of a first quantity indicative of an energy consumed (Ef) by the first power source (ICE) after said part of the mission is completed;
said set of constraints comprising at least one end-point constraint on the admissible values that the first state variable (mNOxtp) can take at the end of said part of the mission.