Predictive cruise control behind a stationary or slow moving object
Paper in proceeding, 2019

This paper presents an energy-efficient velocity control technique for a truck driving behind a slow moving truck. An observer is designed to estimate the acceleration capability of the leading vehicle, which is then used to predict the velocity and time trajectory of the leading vehicle. This information, together with information of road topography, is used by the ego vehicle to optimally plan its velocity along a look-ahead horizon. The optimal planning is achieved by nonlinear model predictive control, where constraints are set to keep a safe distance to the leading vehicle and arrive at the destination within a given time. The designed controller is tested on various driving cycles. The proposed technique is also tested on a traffic light scenario, where information about the position of the traffic light and timing of its signals is considered to be known. The simulations results show that the proposed technique can save a significant amount of fuel.

Observer

Predictive Cruise Control

Leading vehicle

Nonlinear optimization

Model Predictive Control

Author

Sten Elling Tingstad Jacobsen

Chalmers, Electrical Engineering, Systems and control

Anton Gustafsson

Chalmers, Electrical Engineering, Systems and control

Nam Vu

Chalmers, Electrical Engineering, Systems and control

Sachin Madhusudhana

Chalmers, Electrical Engineering, Systems and control

Ahad Hamednia

Chalmers, Electrical Engineering, Systems and control

Nalin Kumar Sharma

Chalmers, Electrical Engineering, Systems and control

Nikolce Murgovski

Chalmers, Electrical Engineering, Systems and control

IEEE Intelligent Vehicles Symposium, Proceedings

Vol. 2019-June 2099-2105 8814014
978-172810560-4 (ISBN)

30th IEEE Intelligent Vehicles Symposium, IV 2019
Paris, France,

Subject Categories

Infrastructure Engineering

Vehicle Engineering

Control Engineering

DOI

10.1109/IVS.2019.8814014

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1/3/2024 9