Nonlinear optimization for stochastic predictive vehicle control
US11327449B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 29, 2020 |
| Grant date | May 10, 2022 |
| Priority date | — |
| Expiry date | Jul 10, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F17/13
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A predictive controller controls a system under uncertainty subject to constraints on state and control variables of the system. At each control step, the predictive controller solves an inequality constrained nonlinear dynamic optimization problem including probabilistic chance constraints representing the uncertainty to produce a control command, and controls an operation of the system using the control command. The predictive controller solves the dynamic optimization problem based on a two-level optimization that alternates, until a termination condition is met, propagation of covariance matrices of the probabilistic chance constraints within the prediction horizon for fixed values of the state and control variables with optimization of the state and control variables within the prediction horizon for fixed values of the covariance matrices.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.