| CPC B60W 50/06 (2013.01) [B60W 50/0098 (2013.01); G05B 13/027 (2013.01); B60W 2050/0011 (2013.01); B60W 2050/0012 (2013.01); B60W 2050/0014 (2013.01)] | 16 Claims |
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1. An automotive vehicle control circuit incorporated into a motion control system of a vehicle, wherein the system is responsive to an output of the automobile vehicle control circuit, in which the automotive vehicle control circuit comprises:
a PID Controller configured to receive at an input a set point signal for a closed-loop control system and provides as an output a control signal that is fed to the motion control system, the PID controller arranged in a closed-loop configuration with the motion control system to minimise an error value indicative of the difference between the demanded behaviour of the motion control system as indicated by a demand signal and the actual behaviour of the motion control system, and
a neural network including an input layer of neurons, at least one hidden layer of neurons, and an output layer comprising at least one output neuron,
in which the neural network comprises a feedforward neural network that receives at the input layer of neurons the demand signal, the drive signal output from the controller and the error value,
and in which the neural network is configured to determine one or more of P gain, I gain and D gain terms used by the PID controller,
and further in which the neural network receives as a feedforward term at least one additional discrete environmental variable.
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