Browse Publications Technical Papers 2018-01-1584
2018-08-07

Velocity Trajectory Planning for Saving Energy of Intelligent 4WD Electric Vehicle Using Model Predictive Control 2018-01-1584

Abstract—In order to reduce the fuel consumption of intelligent four-wheel drive vehicles(4WD),this paper presents a new method of online speed trajectory planning.It can realize online real-time control of vehicle speed,avoid high fuel consumption caused by rapid acceleration and rapid deceleration and also improve driving comfort which are particularly important for urban conditions. This method can be used not only for unmanned drive speed trajectory planning but also can provide drivers driving advice.Firstly,to keep the trade-off between saving energy and maintaining the expected vehicle speed,combined with the limitation of vehicles speed and engine speed,the objective function is transformed into a quadratic form.Secondly, through model predictive control (MPC),current and upcoming state and control constraints is considered.According to the minimum energy consumption,the optimal control strategy for predictive driving is determined at each stage.Besides,an effective projected gradient algorithm with adaptive line search strategy is used.Through GRAMPC solver,online Speed trajectory planning control can be implemented in high-dimensional systems and just in sub-millisecond range.Previous literature mainly adopts the dynamic programming algorithm to realize the optimization strategy or transforms the target problem into the linear programming form and uses COVEX to solve, but there is a problem that the computing time is longer.The calculation results show that the real-time calculation time is significantly shortened even in the high-dimensional dynamic system with a large number of sample times,and the average fuel consumption is also reduced compared with normal driving.

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