Open loop optimal downhill driving brake strategies using non-linear programming
Artikel i vetenskaplig tidskrift, 2007

In this paper open loop optimal trajectories for downhill driving are described. Problem formulation including process modelling, model simplification, transformation into a finite optimisation problem, and implementation into the TOMLAB optimisation package are presented. Results show that there is a large potential in controlling the complete brake system of a heavy duty truck and thereby simultaneously improve both mean speed (transport efficiency) and component wear cost. The resulting optimal trajectories define the upper limit for what is theoretically achievable in a real, closed loop, controller implementation and can be used to both inspire and verify the development of such algorithms.

optimal control


auxiliary brakes

non-linear programming


downhill driving


cruise control


foundation brakes


Peter Lingman

Chalmers, Tillämpad mekanik

A. Duarte

R. Oliveira

International Journal of Heavy Vehicle Systems

1744-232X (ISSN) 1741-5152 (eISSN)

Vol. 14 36-56