Cooperative energy management of automated vehicles

被引：58
作者：
Murgovski, Nikolce [1 ]
Egardt, Bo [1 ]
Nilsson, Magnus [2 ]
机构：
[1] Chalmers Univ Technol, Dept Signals & Syst, S-41296 Gothenburg, Sweden
[2] Viktoria Swedish ICT, Lindholmspiren 3A, S-41756 Gothenburg, Sweden
来源：
CONTROL ENGINEERING PRACTICE | 2016年 / 57卷
关键词：
Quadratic programming; Dynamic programming; Model predictive control; Energy management; Vehicle platoon; Cooperative adaptive cruise control; MODEL-PREDICTIVE CONTROL; STRING STABILITY; TIME; SYSTEMS;
D O I：
10.1016/j.conengprac.2016.08.018
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a cooperative adaptive cruise controller that controls vehicles along a planned route in a possibly hilly terrain, while keeping safe distances among the vehicles. The controller consists of two predictive layers that may operate with different update frequencies, horizon lengths and model abstractions. The top layer plans kinetic energy in a centralized manner by solving a quadratic program, whereas the bottom layer optimizes gear in a decentralized manner by solving a dynamic program. The efficiency of the proposed controller is shown through several case studies with different horizon lengths and number of vehicles in the platoon. (C) 2016 Elsevier Ltd. All rights reserved.
引用
收藏
页码：84 / 98
页数：15
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