DocumentCode :
3422177
Title :
MPC based vehicular following control considering both fuel economy and tracking capability
Author :
Li, Shengbo ; Li, Keqiang ; Wang, Jianqiang ; Zhang, Lei ; Lian, Xiaomin ; Ukawa, Hiroshi ; Bai, Dongsheng
Author_Institution :
Tsinghua Univ., Beijing
fYear :
2008
fDate :
3-5 Sept. 2008
Firstpage :
1
Lastpage :
6
Abstract :
To comprehensively deal with tracking capability and fuel economy issue of ACC-activated vehicle, this paper presents a MPC based vehicular following control algorithm. After compensating the nonlinearity of vehicle longitudinal dynamics by inverse model, the car-following system is built as 3-state space linear model. On its basis, a standard MPC optimization cost is constructed mainly considering the contradiction between fuel economy and tracking capability while other issues such as longitudinal ride comfort and driver acceptable tracking error are formulated as its I/O constraints. In order to avoid the computing infeasibility in receding horizon control, a slack variable is introduced to soften the I/O constraints, called ldquoSoftening Constraintrdquo. The success of MPC based vehicular following control algorithm is demonstrated under several traffic scenarios, showing its application improves both fuel economy and tracking capability while explicitly satisfying driver comfort requirement.
Keywords :
adaptive control; fuel economy; motion control; predictive control; road traffic; road vehicles; 3-state space linear model; ACC-activated vehicle; MPC based vehicular following control; car-following system; driver acceptable tracking error; fuel economy; longitudinal dynamics; receding horizon control; softening constraint; tracking capability; traffic scenarios; Acceleration; Constraint optimization; Cost function; Engines; Error correction; Fuel economy; Inverse problems; Programmable control; Softening; Vehicle dynamics; ACC; Fuel consumption; MPC; Tracking Capability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Vehicle Power and Propulsion Conference, 2008. VPPC '08. IEEE
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-1848-0
Electronic_ISBN :
978-1-4244-1849-7
Type :
conf
DOI :
10.1109/VPPC.2008.4677689
Filename :
4677689
Link To Document :
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