Velocity profile optimization of on road vehicles: Pontryagin's Maximum Principle based approach

Ozatay, Engin; Özgüner, Ü.; Filev, Dimitar

doi:10.1016/j.conengprac.2016.09.006

Cited by 51 publications

(34 citation statements)

References 22 publications

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“…, with λ * 1 (0) = λ 1.0 and λ * 2 (0) = λ 2.0 . Using (16), the system dynamics can be integrated. Then, enforcing the terminal constraints, s * (t p ) = S, v * (t p ) = V , a system of two linear equations in two unknowns (λ 1.0 and λ 2.0 ) is obtained as…”

Section: A Unconstrained Casementioning

confidence: 99%

“…In [11], [12], [13], dynamic programming is used to compute optimal speed trajectories as a reference for the driver, but this algorithm is not suitable for real-time applications due to its high computational time. In contrast, a few studies such as [14], [15], [16] have attempted to derive and use closed-form optimal speed trajectories. However, in these contributions, vehicle safety constraints imposed by neighboring vehicles are not considered.…”

Section: Introductionmentioning

confidence: 99%

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Safe- and Eco-Driving Control for Connected and Automated Electric Vehicles Using Analytical State-Constrained Optimal Solution

Han

Sciarretta

Ojeda

et al. 2018

IEEE Trans. Intell. Veh.

115

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Safe-and eco-driving control for connected and automated electric vehicles using analytical state-constrained optimal solution.Abstract-Speed advisory systems have been proposed for connected vehicles in order to minimize energy consumption over a planned route. However, for their practical diffusion, these systems must adequately take into account the presence of preceding vehicles. In this paper, a safe-and eco-driving control system is proposed for connected and automated vehicles to accelerate or decelerate optimally while guaranteeing vehicle safety constraints. We define minimum inter-vehicle distance and maximum road speed limit as state constraints, and formulate an optimal control problem minimizing the energy consumption. Then, an analytical state-constrained solution is derived for realtime use. A feasible range of terminal conditions is established, and such conditions are adjusted to guarantee the existence of the analytical solution. The proposed system is evaluated through simulation for various driving scenarios of the preceding vehicle. Results show that it can significantly reduce energy consumption and also avoid collision without increasing trip time. Moreover, the proposed system can serve as an energy-efficient advanced cruise control by setting a short prediction horizon.

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Section: A Unconstrained Casementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Safe- and Eco-Driving Control for Connected and Automated Electric Vehicles Using Analytical State-Constrained Optimal Solution

Han

Sciarretta

Ojeda

et al. 2018

IEEE Trans. Intell. Veh.

115

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“…Among them, in particular, is Pontryagin's maximum principle, which makes it possible to solve a wide class of problems for objects described by systems of linear or nonlinear differential equations, to search for optimal control of processes with distributed parameters and discrete processes. This is confirmed by studies devoted to the development of the maximum principle for a number of applications: the search for optimal control of technological processes [12][13][14], transport in the fields of its production and operation [15][16][17][18], the design of structures in power engineering [19,20], and the field of economics [21].…”

Section: Introductionmentioning

confidence: 80%

Synthesis of optimal control of technological processes based on a multialternative parametric description of the final state

Demin

2017

EEJET

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Запропоновано метод пошуку оптимального управ-ління технологічними процесами, заснований на аналізі рішення системи диференціальних рівнянь (СДР), яка є математичною моделлю керованого процесу. Показано, що отримані при цьому рішення узгоджуються з прин-ципом максимуму Понтрягіна для задачі про швидкодію, але відкриваються додаткові можливості в управлінні кінцевим станом. Запропоновано спосіб мультиальтер-нативного параметричного опису кінцевого стану Ключові слова: оптимальне керування технологічни-ми процесами, принцип максимуму Понтрягіна, швид-кодія, лінія кінцевого стану, мультіальтернатівний опис кінцевого стану, рідж-аналіз Предложен метод поиска оптимального управления технологическими процессами, основанный на анализе решения системы дифференциальных уравнений (СДУ), являющейся математической моделью управляемого процесса. Показано, что получаемые при этом решения согласуются с принципом максимума Понтрягина для задачи о быстродействии, но открываются дополни-тельные возможности в управлении конечным состоя-нием. Предложен способ мультиальтернативного пара-метрического описания конечного состояния Ключевые слова: оптимальное управление техно-логическими процессами, принцип максимума Понтря-гина, быстродействие, линия конечного состояния, мультиальтернативное описание конечного состояния, ридж-анализ UDC 681.5:519.24

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“…The first equality in (13) is obtained by substitution of (1c), (10b) and (12), and the second equality by solving the integral over the boundary conditions of the problem. The first two terms shows that the total kinetic and potential energy of the vehicle depend only on the velocities and elevations at the boundaries.…”

Section: A Reduction Of the Continuous-time Problemmentioning

confidence: 99%

A Global Optimal Solution to the Eco-Driving Problem

Padilla

Weiland

Donkers

2018

IEEE Control Syst. Lett.

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Velocity profile optimization of on road vehicles: Pontryagin's Maximum Principle based approach

Cited by 51 publications

References 22 publications

Safe- and Eco-Driving Control for Connected and Automated Electric Vehicles Using Analytical State-Constrained Optimal Solution

Safe- and Eco-Driving Control for Connected and Automated Electric Vehicles Using Analytical State-Constrained Optimal Solution

Synthesis of optimal control of technological processes based on a multialternative parametric description of the final state

A Global Optimal Solution to the Eco-Driving Problem

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