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Optimal Speed and Gear Shift Control of Long-haulage Trucks

机译：长途卡车的最佳速度和变速控制

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Long haulage trucks consume large amounts of fuel, and fuel savings are desired both from economical and environmental aspects. When the upcoming road topology is known, the speed and gear shifts can be optimized in order to minimize the fuel consumption by e.g. minimizing the braking of the truck. Three different optimal control approaches are evaluated and compared for the speed and gear shift optimization problem. The results are based on simulations, but two of the three evaluated solvers are also implemented on-board a truck using rapid prototyping to investigate the feasibility of such systems. The results indicate that optimal control of the speed reduces the fuel consumption more than finding the optimal gear shift trajectory. The overall optimization problem contains one discrete and one continuous state, which makes the selection of optimization method complex. A sequential optimization scheme where the optimal speed profile is found using linear programming and the optimal gear profile is found using dynamic programming shows similar results as using dynamic programming for the overall problem simultaneously. One drawback with this solution is robustness and several tuning parameters. The driveability of the solutions are found good at the performed on-board tests.
机译：长途运输卡车消耗大量燃料，并且从经济和环境方面都希望节省燃料。当即将到来的道路拓扑是已知的时，可以优化速度和变速，以便例如通过最小化燃料消耗。最小化卡车的制动。针对速度和变速优化问题，评估并比较了三种不同的最优控制方法。结果是基于仿真的，但是三个评估的求解器中的两个也使用快速原型在卡车上实现，以研究此类系统的可行性。结果表明，速度的最佳控制比找到最佳的变速轨迹更能减少燃油消耗。整个优化问题包含一个离散状态和一个连续状态，这使得优化方法的选择变得复杂。使用线性编程找到最佳速度曲线并使用动态编程找到最佳齿轮曲线的顺序优化方案显示出与同时对整个问题使用动态编程相似的结果。该解决方案的一个缺点是鲁棒性和几个调整参数。在执行的车载测试中发现解决方案的可驱动性很好。

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