Economic speed planning for commercial vehicles: A PMP based approach

Abstract

This paper presents a methodology based on Pontryagin’s Maximum Principle (PMP) for formulating a control law to optimize the vehicle’s economic speed, allowing for rapid determination of the optimal cruising speed. The research focuses on two main aspects: modeling and the development of the economic speed control law. In the modeling phase, a nonlinear engine fuel consumption model is employed for a more accurate depiction of engine fuel consumption characteristics. Additionally, road functions are reconstructed through algorithms which better describe the actual operating conditions of the vehicles. The control law is derived by establishing the Hamiltonian equation, integrating the vehicle’s longitudinal dynamics equation, and ensuring practical conditions for economic speed control. Leveraging the derived variation in vehicle speed and formulated control law, the economic speed sequence is promptly ascertained, meeting real-time requirements for vehicle cruising and reducing computational complexity. Experiments conducted using a FAW J7 truck indicate that the speed sequence obtained aligns with the trend derived through Dynamic Programing (DP). With comparable average speeds, the PMP-derived economic speed exhibits a 6.71% lower fuel consumption than the Cruise Control System (CCS). The control law-derived economic speed detailed in this paper effectively enhances fuel economy during vehicle cruising. This study presents a valuable method for achieving economic driving in commercial vehicles.

Keywords

Commercial vehicles Pontryagin’s maximum principle economic speed control law

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