Design of a Well-behaved Algorithm for On-board Look-ahead Control
2008 (English)In: IFAC World Congress,2008, 2008Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-43877Local ID: 75005OAI: oai:DiVA.org:liu-43877DiVA: diva2:264738