4.7 Article

Computationally Efficient Algorithm for Eco-Driving Over Long Look-Ahead Horizons

期刊

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2021.3058418

关键词

Eco-driving; velocity optimisation; optimal control; Pontryagin's maximum principle; real-time iteration; sequential quadratic programming; model predictive control

资金

  1. Swedish Energy Agency [43322-1]

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This paper introduces a computationally efficient algorithm for eco-driving over long distances, which combines offline and online solutions to significantly reduce computational effort and achieve energy savings.
This paper presents a computationally efficient algorithm for eco-driving along horizons of over 100km. The eco-driving problem is formulated as a bi-level program, where the bottom level is solved offline, pre-optimising gear as a function of longitudinal velocity (kinetic energy) and acceleration. The top level is solved online, optimising a nonlinear dynamic program with travel time, kinetic energy and acceleration as state variables. To further reduce computational effort, the travel time is adjoined to the objective by applying necessary Pontryagin's Maximum Principle conditions, and the nonlinear program is solved using real-time iteration sequential quadratic programming scheme in a model predictive control framework. Compared to average driver's driving cycle, the energy savings of using the proposed algorithm is up to 11.60%.

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