Cooperative energy management of automated vehicles
Artikel i vetenskaplig tidskrift, 2016

This paper presents a cooperative adaptive cruise controller that controls vehicles along a planned route in a possibly hilly terrain, while keeping safe distances among the vehicles. The controller consists of two predictive layers that may operate with different update frequencies, horizon lengths and model abstractions. The top layer plans kinetic energy in a centralized manner by solving a quadratic program, whereas the bottom layer optimizes gear in a decentralized manner by solving a dynamic program. The efficiency of the proposed controller is shown through several case studies with different horizon lengths and number of vehicles in the platoon.

energy management

quadratic programming

dynamic programming

model predictive control

cooperative adaptive cruise control

vehicle platoon

Författare

Nikolce Murgovski

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Bo Egardt

Chalmers, Signaler och system, System- och reglerteknik, Reglerteknik

Magnus Nilsson

IT-forskningsinstitutet Viktoria

Control Engineering Practice

0967-0661 (ISSN)

Vol. 57 84-89

Drivkrafter

Hållbar utveckling

Styrkeområden

Transport

Energi

Ämneskategorier

Beräkningsmatematik

Reglerteknik

DOI

10.1016/j.conengprac.2016.08.018

Mer information

Senast uppdaterat

2018-11-15