Ecological Vehicle Control on Roads With Up-Down Slopes

Abstract

This paper presents a novel development of an ecological (eco) driving system for running a vehicle on roads with up-down slopes. Fuel consumed in a vehicle is greatly influenced by road gradients, aside from its velocity and acceleration characteristics. Therefore, optimum control inputs can only be computed through anticipated rigorous reasoning using information concerning road terrain, model of the vehicle dynamics, and fuel consumption characteristics. In this development, a nonlinear model predictive control method with a fast optimization algorithm is implemented to derive the vehicle control inputs based on road gradient conditions obtained from digital road maps. The fuel consumption model of a typical vehicle is formulated using engine efficiency characteristics and used in the objective function to ensure fuel economy driving. The proposed eco-driving system is simulated on a typical road with various shapes of up-down slopes. Simulation results reveal the ability of the eco-driving system in significantly reducing fuel consumption of a vehicle. The fuel saving behavior is graphically illustrated, compared, and analyzed to focus on the significance of this development.

Nonlinear model predictive extended eco-cruise control for battery electric vehicles

“…Previous studies show that it was more common to limit the traction input in order to reduce the energy consumption [1], and considering either none or partial road geometric [6] and traffic information [2] with simplified model and control problem formulations [8], [7]. These systems generally may provide suitable behaviour in some situations, however, the driver has to take back the velocity control of the vehicle in any other unforeseen situations.…”

“…where ρ, A f , C D , g, θ (s), and C rr (v), are the air density, the vehicle frontal area, the aerodynamic drag coefficient, the gravitational acceleration, the road slope angle as a function of position (for more details, see [1]), and the velocity dependent rolling resistance coefficient, subsequently. The rolling resistance coefficient for passenger vehicles on a concrete road can be approximated as C rr (v) = 0.01(1 + v/576) (for more details, see [9]).…”

“…It is noteworthy that the f cruise formulation is adapted from [1]. The acceleration and deceleration, a, considering only the regenerative energy zone in the hybrid brake system can be approximated by a similar curve-fit process with measurement data using a polynomial of the control input as f a = a 2 u 2 + a 1 u + a 0 .…”

“…An Eco-CC system considering up-down road slopes with an ICEV fuel consumption model presented in [1]. This system derive an optimal vehicle control input by utilising a fast nonlinear model predictive control method.…”

Deadzone-Quadratic Penalty Function for Predictive Extended Cruise Control with Experimental Validation

“…In order to improve the performance specifications, Nonlinear MPC (NMPC) is distinguished by the use of nonlinear system models in the OCP. An instance work of the NMPC for the Eco-CC system considering up-down road slopes with an Internal Combustion Engine (ICE) fuel consumption model was presented in [5]. An Extended Eco-CC (Ext-Eco-CC) system that considers further road curves and traffic speed limit areas for the BEVs was introduced in [6].…”