Method and apparatus for preconditioned predictive control of vehicle movement
US10877445B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 14, 2019 |
| Grant date | Dec 29, 2020 |
| Priority date | — |
| Expiry date | Aug 14, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F17/16
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A predictive controller controls a vehicle subject to equality and inequality constraints on state and control variables of the vehicle and solves a matrix equation of necessary optimality conditions to produce control inputs to control the vehicle. The controller represents the state variables as a function of the control variables using discrete-time dynamics and determines the control inputs iteratively using two levels of iterations. The first level of iterations selects active inequality constraints, updates a constraint Jacobian matrix with a low-rank update for a change in the set of active inequality constraints to include the active inequality constraints, and updates a preconditioning matrix with a low-rank factorization update, in response to the low-rank update of the constraint Jacobian matrix. The second level of iterations, nested in the first level, solves the matrix equation with the updated constraint Jacobian matrix using the updated preconditioning matrix to produce the control inputs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.