2020/10/07 by Deshpande, Shreshta Rajakumar, Jung, Daniel, Canova, Marcello
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2010.03620
This paper focuses on the velocity planning and energy management problems for Connected and Automated Vehicles (CAVs) with hybrid electric powertrains. The eco-driving problem is formulated in the spatial domain as a nonlinear dynamic optimization problem, in which information about the upcoming speed limits and road topography is assumed to be known a priori. To solve this problem, a novel Dynamic Programming (DP) based optimization method is proposed, in which a causal Equivalent Consumption Minimization Strategy (ECMS) is embedded. The underlying vehicle model to predict energy consumption over real-world routes is validated using experimental data. Further, a multi-layer hierarchical control architecture is proposed as a pathway to real-time implementation in a vehicle. The DP-ECMS algorithm is introduced for a long-horizon optimization problem, and then adapted for a receding horizon implementation using principles in Approximate Dynamic Programming (ADP). This computationally economical alternative to the traditional DP solution is then benchmarked and evaluated.