基于Radau伪谱法和MPC的智能电动车辆生态驾驶  

Eco-driving Based on Radau Pseudo-spectral Method and Model Predictive Control for Intelligent Electric Vehicle

作　　者：段建民[1] 房泽平[1,2] 杨晨[1] 

机构地区：[1]北京工业大学城市交通学院,北京100124 [2]中原工学院电子信息学院,郑州450007

出　　处：《北京工业大学学报》2016年第5期774-781,共8页Journal of Beijing University of Technology

基　　金：北京市属高等学校人才强教计划资助项目(038000543115025)

摘　　要：为优化智能电动车能源消耗,提出了基于Radau伪谱法和模型预测控制算法的智能电动车辆生态驾驶的方案.建立生态驾驶控制模型和能耗模型,结合边界约束和路径约束,构建生态驾驶能耗优化的最优控制问题.通过能耗优化得到最优车速轨迹,将此轨迹作为期望输入,基于模型预测控制(MPC)算法完成生态驾驶控制.实验结果表明:以纯电动车和实际规划路径为例,以最优车速自动行驶的能源消耗少于人工驾驶的能源消耗,验证了文中策略的有效性.Intelligent electric vehicle longitudinal motion energy optimization can save energy and improvevehicle performance. In order to accurately obtain the energy consumption of the vehicle, the energyconsumption optimization problem of the longitudinal motion was solved based on Radau pseudospectralmethod. The longitudinal motion model and energy consumption model was established. Combined withthe boundary constraints and path constraints, energy consumption optimization optimal control problemwas found. The longitudinal optimum speed trajectory was obtained by solving the problem of minimumenergy consumption. This trajectory was used as the desired speed input, the speed tracking control wasachieved based on the model predictive control （MPC） algorithm. The experimental results show that, apure electric vehicles as an example, the policy in this paper can get continuous power consumption valueof vehicles traveling, the longitudinal motion with energyoptimized can reduce energy consumption, andthe effectiveness of the strategy is verified.

关 键 词：智能电动车辆 生态驾驶 Radau伪谱法 能耗优化 路径断点 模型预测控制 

分 类 号：U491[交通运输工程—交通运输规划与管理]