US 12,140,958 B2
Controller, control system and method for vehicle control
Dennis Ion Yazhemsky, Toronto (CA); and Alon Green, Toronto (CA)
Assigned to Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed by Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed on Feb. 24, 2021, as Appl. No. 17/184,079.
Claims priority of provisional application 62/980,694, filed on Feb. 24, 2020.
Prior Publication US 2021/0263527 A1, Aug. 26, 2021
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06N 3/04 (2023.01)
CPC G05D 1/0221 (2013.01) [G05D 1/0223 (2013.01); G06N 3/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system for a vehicle, the control system comprising:
a first controller configured to generate, by solving a first optimization problem, an optimal trajectory of the vehicle along a path;
a second controller configured to, based on the optimal trajectory generated by the first controller, generate motoring and braking commands to a motoring and braking system of the vehicle for controlling the vehicle to travel along the path; and
an auto-tuner comprising a processor configured to solve a real-time second optimization problem to determine at least one parameter of the first controller.