This paper presents a novel approach on Model Predictive Control (MPC) using an inhomogeneously discretized preview horizon for the application of urban energy efficient driving. One solution for model predictive energy efficient driving is a direct solution of the underlying speed profile optimization problem using Quadratic Programming (QP), which allows computationally efficient and robust results. Our inhomogeneous horizon discretization allows to have a finer discretization of the typically important near future and a wider discretization of the less decisive far range of an MPC, while keeping a long preview horizon and at the same time limit the number of supporting points, hence limit the problem dimension, computational complexity, and proportional execution time. In extensive simulations of a real-world urban driving scenario, we demonstrate a significantly improved control performance in terms of fuel consumption, trip time, or constraint violation for the same computational complexity.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Inhomogeneous Model Predictive Control Horizon Discretization for an Urban Truck Energy Efficient Driving Application


    Beteiligte:


    Erscheinungsdatum :

    01.09.2015


    Format / Umfang :

    227512 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Performance Measures in Model Predictive Control with Non-linear Prediction Horizon Time-discretization

    Gondhalekar, R. / Imura, J.-i. | British Library Online Contents | 2007


    Multiple Horizon Model Predictive Flight Control

    Medagoda, E D B | Online Contents | 2014


    Multiple Horizon Model Predictive Flight Control

    Medagoda, Eran D. B. / Gibbens, Peter W. | AIAA | 2014


    Multistage Stochastic Model Predictive Control for Urban Automated Driving

    Benciolini, Tommaso / Brudigam, Tim / Leibold, Marion | IEEE | 2021


    Hydrogen energy fuel cell truck driving system and truck

    TAN LE / HAO YIGUO | Europäisches Patentamt | 2021

    Freier Zugriff