公开(公告)号：WO2021145223A1

公开(公告)日：2021-07-22

申请号：PCT/JP2020/049304

申请日：2020-12-24

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： QUIRYNEN, Rien ,  BERNTORP, Karl ,  DI CAIRANO, Stefano

IPC: G05D1/02 ,  G01C21/00 ,  B60W60/00 ,  B60W2050/0014 ,  B60W2050/0028 ,  B60W2400/00 ,  B60W30/18 ,  B60W50/0097 ,  B60W60/001 ,  G05B17/02 ,  G05D1/0088 ,  G05D1/0217 ,  G05D2201/0213

Abstract: A control system controls a vehicle using a probabilistic motion planner and an adaptive predictive controller. The probabilistic motion planner produces a sequence of parametric probability distributions over a sequence of target states for the vehicle with parameters defining a first and higher order moments. The adaptive predictive controller optimizes a cost function over a prediction horizon to produce a sequence of control commands to one or multiple actuators of the vehicle. The cost function balances a cost of tracking of different state variables in the sequence of the target states defined by the first moments. The balancing is performed by weighting different state variables using one or multiple of the higher order moments of the probability distribution.

公开(公告)号：WO2021148240A1

公开(公告)日：2021-07-29

申请号：PCT/EP2021/025013

申请日：2021-01-15

Applicant: PERKINS ENGINES COMPANY LIMITED

Inventor： WILLIAMS, Gavin

IPC: G05B17/02 ,  B60W20/11 ,  B60W2050/0028 ,  B60W2050/0037 ,  B60W50/00

Abstract: A universal controller for a powertrain is provided. The universal controller comprises a configurable powertrain model which is configurable to model a class of generic powertrains comprising J generic power sources, K generic power sinks, and L generic couplings. The universal controller is arranged to receive an input file comprising a plurality of input parameters to configure the configurable powertrain model of the universal controller to control a specific powertrain having a powertrain architecture comprising N power sources, M power sinks, and X couplings. The configurable powertrain model is configured to model the specific powertrain based using N power source models, M power sink models, X coupling models, and a model architecture which may be defined from a generic powertrain component library and a connection parameter module.