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Design of a Well-behaved Algorithm for On-board Look-ahead Control
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Vehicular Systems.
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Vehicular Systems.
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering.
2008 (English)In: IFAC World Congress,2008, 2008Conference paper, Published paper (Refereed)
Abstract [en]

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
2008.
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Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-43877Local ID: 75005OAI: oai:DiVA.org:liu-43877DiVA: diva2:264738
Available from: 2009-10-10 Created: 2009-10-10

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Hellström, ErikÅslund, JanNielsen, Lars

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