A Switching Nonlinear MPC Approach for Ecodriving

Abstract

In recent years many works focusing on improved vehicle fuel efficiency through advanced control have been carried out, reflecting the high interest in ecodriving of vehicles. Although many studies have shown the potential that optimal control based ecodriving can offer, these solution are often difficult to be translated into online control strategies, one of the reasons being the complexity of the optimal control problem and therefore the computational burden.To cope with this a novel online approach, based on switching Nonlinear Model Predictive Control (NMPC), is proposed. The NMPC strategy is developed for the case of conventional vehicles, where gear shifting and longitudinal dynamics are controlled. It is shown that our proposal can operate in real time, while recovering most of the performance achievable by an offline optimal solution.The development of the method is described in detail and its performance is analyzed. The results show that the proposed NMPC can successfully solve the ecodriving task and seems a good compromise between computational burden and performance suitable for field implementation.

Design of a Switching Nonlinear MPC for Emission Aware Ecodriving

“…In particular, the value N b plays a crucial role and, after a sensitivity study, the most significant choices for field implementations are indicated. Clearly, as expected, the computation time rises with Table III: Dependency of computation time on the parameters N b and N p with weights µ t f = 0.005, µ gs = 0.00022, [34]. both higher N p and N b .…”

“…As for the impact of the restriction to modes, the performance of the proposed SNMPC accounting emissions is comparable to that in [34], with Pareto fronts in terms of t f and m fuel closer to the optimal ones achieved via EDPm, higher the horizon is. The discretization parameters used to solve the optimal control problem through EDPm are given in Table II.…”

“…In this paper we put forward an alternative ecodriving control approach, which actively accounts for NO x emissions in their production phase. It is partially based and extends the results of the Ph.D. thesis [33] and of the preliminary work [34], where a classical ecodriving control problem is solved without taking into account the presence of emissions. Specifically, this work addresses the design of an emission aware ecodriving control problem, which is recast as a nonlinear switching multivariable Optimal Control Problem (OCP).…”

“…So it can be concluded that, the proposal is able to realize emission aware driving and influences the achieved emissions in a wide range. Although in the emission aware framework the Pareto fronts do not tend to the one of EDPm solution, as much as it instead occurs when only fuel consumption is minimized (see [34]), it is worth to put the attention on the fact that the offset is very small.…”

Event-Triggered Eco-Driving With Sliding Mode Control for an Electric Vehicle in Urban Traffic Networks

“…Among many works in the literature, in [10], [11], for instance, a switching formulation of the eco-driving control problem is adopted and a switched nonlinear Model Predictive Control is designed to solve the problem in presence of velocity, acceleration, emission and fuel consumption constraints. The minimization of the idle time is discussed in [12] together with emission and acceleration/deceleration limits.…”