A Proposed Software Framework Aimed at Energy-Efficient Autonomous Driving of Electric Vehicles

Moreno, José-Luis Torres; Claraco, José-Luis Blanco; Bellone, Mauro; Rodríguez, Francisco; Giménez, Antonio; Reina, Giulio

doi:10.1007/978-3-319-11900-7_19

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…, two IMUs and two optical encoders) are logged in a host computer running a software architecture called OpenMORA [33]. This architecture, developed and co-maintained by the authors of this work, has been successfully used on more complex systems such as electric cars and autonomous robots [34,35]. …”

Section: Methodsmentioning

confidence: 99%

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Torres-Moreno

Blanco-Claraco

Giménez-Fernández

et al. 2016

Sensors

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This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics.

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Section: Methodsmentioning

confidence: 99%

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Torres-Moreno

Blanco-Claraco

Giménez-Fernández

et al. 2016

Sensors

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show abstract

“…The electric vehicle featured a 4.8 kW DC motor, and was powered by a pack of eight batteries (model 6V-GEL, Trojan Battery Company, Santa Fe Springs, CA, USA). This vehicle is used for research purposes, and more information about its characteristics is provided in [21]. A key idea of this work consisted of ensuring the repeatability and automatization of the controllable variables affecting the experiments.…”

Section: A Low Scale Micro-grid As Testbedmentioning

confidence: 99%

Energy Management Strategy for Micro-Grids with PV-Battery Systems and Electric Vehicles

et al. 2018

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This paper analyzes the impact of photovoltaic (PV) systems on storage and electric vehicles in micro-grids. As these kinds of systems are becoming increasingly popular in the residential sector, the development of a new generation of equipment, such as more efficient batteries or solar panels, makes further study necessary. These systems are especially interesting in commercial or office buildings, since they have a more repetitive daily pattern of electricity consumption, which usually occurs within the maximum solar radiation hours. Based on this need, a novel control strategy aimed at efficiently managing this kind of micro-grid is proposed. The core of this strategy is a rule-based controller managing the power flows between the grid and the batteries of both the PV system and the electric vehicle. Through experimental data and simulations, this strategy was tested under different scenarios. The selected testbed consisted of the laboratory of a research center, which could be easily scalable to the entire building. Results showed the benefits of using an electric vehicle as an active agent in energy balance, leading to a reduction of the energetic costs of a micro-grid.Energies 2018, 11, 522 2 of 13 residential buildings is presented in [2], where energy storage and load management were presented as the main strategies for increasing self-consumption. The latest developments in battery technology have enabled their use in residential houses. In [3], self-consumption was quantified for a PV system with a home battery. Due to different electricity taxes, market tariffs, and stochastic consumption and production in Europe, that paper did not ensure that the battery was to be profitable in today's market. However, increasing electricity prices and the expected decrease in battery prices suggest that energy storage could be a profitable option in the near future, even in Northern Europe. A methodology for sizing residential PV battery systems was proposed in [4], and a control algorithm for these kinds of systems were proposed in [5,6]. Both works dealt with the limitations in the power flows between the PV system, the public electrical gird, and batteries. In combination with energy storage, intelligent load management may address important improvements in the self-consumption of buildings [7,8]. This strategy basically consists of scheduling the controllable loads to match the hours with the maximum production of solar energy. In commercial and office buildings where the loads and solar energy production occur at the same time, it is likely to reach high self-consumption [9]. However, in houses whose occupants spend the central part of the day outside, a mismatch between production and consumption occurs. In this scenario, active demand-side management (DSM) allows the improvement of self-consumption by selecting when a water heater, a washing machine, or other programmable appliances should start working.Taking into account the concepts of energy storage and DSM, the plug-in electric vehicle (EV) arises as a c...

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Extension of trajectory planning in parameterized spaces to articulated vehicles

Bellone

Qutteineh

2017

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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A Proposed Software Framework Aimed at Energy-Efficient Autonomous Driving of Electric Vehicles

Cited by 4 publications

References 7 publications

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Energy Management Strategy for Micro-Grids with PV-Battery Systems and Electric Vehicles

Extension of trajectory planning in parameterized spaces to articulated vehicles

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