Two-Level MPC Speed Profile Optimization of Autonomous Electric Vehicles Considering Detailed Internal and External Losses

Two-Level MPC Speed Profile Optimization of Autonomous Electric Vehicles Considering Detailed Internal and External Losses

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This paper proposes a novel two-level model predictive control (MPC) speed control algorithm for autonomous vehicles as a successive convex optimization problem focused on both energy use and arrival time.Internal losses such as detailed motor/inverter efficiency and battery loss, as well as external losses, such as wind and grade, are considered.The effect of the higher accessory energy usage of autonomous vehicles on the energy-optimal speed profile is considered in here the algorithm and investigated kicker pro comp 10 in the paper.The proposed successive convex approach produces a highly accurate optimal speed profile while also being solvable in real-time with the vehicle on-board computing resources.An electric vehicle model is created in MATLAB/Simulink and validated to real-world logged driving data.

This vehicle model is used to perform a variety of simulated test cases, which show an energy savings potential of about 1% to 20% for different driving conditions, compared to a non-energy-optimal driving profile.