Globally energy-optimal speed planning for road vehicles on a given route |
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| Institution: | 1. Ford Motor Company, Dearborn, MI 48120, USA;2. Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA;1. Beijing Institute of Technology, School of Mechanical Engineering, Beijing 100081, China;2. Michigan State University, Department of Mechanical Engineering, East Lansing, MI 48823, USA;1. Department of Mechanical Engineering, Clemson University, Clemson, SC, United States;2. BMW Group Information Technology Research Center, Greenville, SC, United States;1. School of Transportation Science and Engineering, Beihang University, Beijing 100191, China;2. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, China;3. Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute, 110 8th St., Troy, NY 12180, United States;1. Faculty of Transportation Engineering, Kunming University of Science and Technology, 650500, Kunming China;2. LIS Lab (UMR CNRS 7020), Aix-Marseille University, 13397, Marseille, France |
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| Abstract: | This paper provides a globally optimal solution to an important problem: given a real-world route, what is the most energy-efficient way to drive a vehicle from the origin to the destination within a certain period of time. Along the route, there may be multiple stop signs, traffic lights, turns and curved segments, roads with different grades and speed limits, and even leading vehicles with pre-known speed profiles. Most of such route information and features are actually constraints to the optimal vehicle speed control problem, but these constraints are described in two different domains. The most important concept in solving this problem is to convert the distance-domain route constraints to some time-domain state and input constraints that can be handled by optimization methods such as dynamic programming (DP). Multiple techniques including cost-to-go function interpolation and parallel computing are used to reduce the computation of DP and make the problem solvable within a reasonable amount of time on a personal computer. |
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| Keywords: | Optimal vehicle speed control Dynamic programming Electric vehicles Energy management Traffic light |
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