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Abstract |
Design of a Well-behaved Algorithm for On-board Look-ahead Control
A look-ahead controller is developed for a heavy diesel truck that
utilizes information about the road topography ahead of the vehicle
when the route is known. A dedicated prediction model is formulated
where special attention is given to properly include gear shifting.
The nature of the problem is analyzed for the purpose of optimization,
and a well performing dynamic programming algorithm is tailored. A key
step for satisfactory solutions with a sufficiently low computational
effort is to avoid numerical problems. The focus here is the choice of
discretization method, and it turns out that a basic analysis give
decisive insight into the interplay between the criterion and the
discretization errors. The resulting algorithm is demonstrated to
perform well in real on-line tests on a highway.
Erik Hellström, Jan Åslund and Lars Nielsen
2008
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