Model Predictive Control of Fuel-Efficient Vehicle-Following Model Considering Nonconvex and Discontinuous Characteristics of Engine and its Low-Computational-Cost Implementation
エンジンの非凸・不連続な特性を考慮した省燃料消費型車両追従モデル予測制御とその低演算負荷な実装
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20225255
- Paper/Info type
- Proceedings (Spring)
No.57-22
- Pages
- 1-4(Total 4 p)
- Date of publication
- May 2022
- Publisher
- JSAE
- Language
- Japanese
- Event
- 2022 JSAE Annual Congress (Spring)
Detailed Information
| Author(J) | 1) 欧 鴻佳, 2) Andreas Themelis, 3) 湯野 剛史, 4) 川邊 武俊 |
|---|---|
| Author(E) | 1) Hongjia Ou, 2) Andreas Themelis, 3) Tsuyoshi Yuno, 4) Taketoshi Kawabe |
| Affiliation(J) | 1) 九州大学, 2) 九州大学, 3) 九州大学, 4) 九州大学 |
| Affiliation(E) | 1) Kyushu University, 2) Kyushu University, 3) Kyushu University, 4) Kyushu University |
| Abstract(J) | 自律走行やクルーズコントロールにおける車両の物理的な非線形性と複雑性に起因する高度な非凸制御問題に対して、省燃費を考慮しつつ、非凸問題に対応でき、内部の小問題が無視できる程度の労力で解ける場合には非常に低い計算量で済む高速最適化ソルバーであるPANOCを用いた解決策を提案する。また、Douglas-Peuckerアルゴリズムに基づいて、燃料消費モデルのピースワイズ・アフィン近似戦略を提案し、計算負荷を軽減する。 Translation |
| Abstract(E) | For the highly nonconvex control problem caused by the inherent nonlinearity and complexity of the vehicle physical dynamics in autonomous driving and cruise control, while taking into account the energy saving,we propose a solution based on PANOC,a fast optimization solver which can cope with nonconvex problems and enjoys very low computational requirements, provided that some inner subproblems can be solved at negligible effort. A piecewise affine approximation strategy for the fuel consumption model based on the Douglas-Peucker algorithm is also proposed to reduce the computational burden. |
