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An embedded model predictive controller for optimal truck driving
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

An embedded model predictive controller for velocity control of trucks is developed and tested.

By using a simple model of a heavy duty vehicle and knowledge about the slope of the road ahead, the fuel consumption while traveling near a set speed is diminished by almost 1% on an example road compared to a rule based speed control system.

The problem is formulated as a look-ahead optimization problem were fuel consumption and total trip time have to be minimized. To find the optimal solution dynamic programming is used, and the whole code is designed to run on a Scania gearbox ECU in parallel with all the current software.

Simulations were executed in a Simulink environment, and two test rides were performed on the E4 motorway.

Abstract [sv]

En algoritm för hastighetsstyrning baserad på modell-prediktiv reglering har utvecklats och testats på befintlig styrsystem i ett Scania lastbil.

Genom att använda en enkel modell av fordonet och kunskap om lutningen på vägen framför den kunde man sänka bränsleförbrukningen med nästan 1% i vissa sträckor, jämfört med en regelbaserad farthållare.

Problemet är formulerat som en optimerings-problem där bränsleförbrukning och total restid måste minimeras. För att hitta den optimala lösningen användes dynamisk programmering och hela koden är skriven så att den kan exekveras på en Scania styrenehet. Koden är kan köras parallellt med den mjukvara som är installerad på styrenheten.

Simuleringar utfördes i en miljö utvecklad i Simulink. Två test-körningar på E4 motorvägen utfördes. 

Place, publisher, year, edition, pages
2017. , 47 p.
Series
TRITA-EE, ISSN 1653-5146 ; 2017:034
Keyword [en]
embedded systems, heavy duty vehicle, model predictive controller, cruise control, dynamic programming.
National Category
Vehicle Engineering Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-205649OAI: oai:DiVA.org:kth-205649DiVA: diva2:1089904
External cooperation
SCANIA
Subject / course
Automatic Control
Educational program
Master of Science in Engineering - Vehicle Engineering
Presentation
2016-12-09, Dep. of automatic control, Osquldas väg 10, 100 44 Stockholm, 09:00 (English)
Supervisors
Examiners
Available from: 2017-05-03 Created: 2017-04-21 Last updated: 2017-05-03Bibliographically approved

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