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access icon free Fast velocity trajectory planning and control algorithm of intelligent 4WD electric vehicle for energy saving using time-based MPC

  • Author(s): Dong-mei Wu 1 ; Yue Li 1 ; Chang-qing Du 1 ; Hai-tao Ding 2 ; Yang Li 3 ; Xiao-bo Yang 3 ; Xin-yue Lu 3
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  • Source: Volume 13, Issue 1, January 2019, p. 153 – 159
    DOI:  10.1049/iet-its.2018.5103 , Print ISSN 1751-956X, Online ISSN 1751-9578
© The Institution of Engineering and Technology
Received 31/03/2018, Accepted 03/10/2018, Revised 06/09/2018, Published 15/10/2018

For intelligent four-wheel-drive (4WD) electric vehicle (EV), the vehicle speed can be planned and controlled for energy saving based on the slope information of road ahead. To reduce the calculation load of the optimisation algorithm, the model predictive control (MPC) method is formulated based on the time horizon in this study. Furthermore, a fast gradient method based control tool-GARMPC is used to solve the optimisation problem. First, the longitudinal dynamics model of 4WD EV based on time horizon and distance horizon is established based on the road slope information, respectively. Second, the MPC problem based on the time-discrete model is formulated and solved by GARMPC tool. For comparison, a dynamic program (DP) control method is introduced based on the distance-discrete model. Finally, the simulation is conducted under a designed road condition and a real measured road condition. The results show that the time-horizon based MPC method can significantly reduce the energy consumption compared with the proportion integration differentiation control method, which is similar to the driver's operation. Compared with the DP optimisation method, the time-based MPC method reduces the calculation time to smaller than 1 ms, which is essential for real-time application in a road vehicle.

Inspec keywords: predictive control; gradient methods; energy conservation; dynamic programming; drives; velocity control; electric vehicles; trajectory control; vehicle dynamics; road vehicles

Other keywords: intelligent four-wheel-drive electric vehicle; road slope information; distance-discrete model; vehicle speed control; fast gradient method based control tool; GARMPC tool; energy saving; time-horizon based MPC method; optimisation algorithm; DP control method; intelligent 4WD electric vehicle; time-based MPC; fast velocity trajectory planning algorithm; model predictive control method; time-discrete model; distance horizon; calculation load reduction; longitudinal dynamics model; fast velocity trajectory control algorithm; dynamic program control method

Subjects: Optimisation techniques; Transportation; Spatial variables control; Vehicle mechanics; Optimal control; Control technology and theory (production); Mechanical drives and transmissions; Interpolation and function approximation (numerical analysis); Interpolation and function approximation (numerical analysis); Optimisation techniques; Optimisation; Road-traffic system control; Velocity, acceleration and rotation control; Numerical analysis

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