论文标题

使用最佳控制的自动赛车的能源管理策略

Energy Management Strategy for an Autonomous Electric Racecar using Optimal Control

论文作者

Herrmann, Thomas, Christ, Fabian, Betz, Johannes, Lienkamp, Markus

论文摘要

乘用车的自动化变得越来越普遍,导致了未来几年的汽车自主权。此外,可持续电动机动性变得重要。由于赛车一直是技术的开发平台,后来也被转移到了乘用车上,因此已经创建了一种称为Roborace的自动驾驶赛格式。由于电动赛车仅存储有限的能源,因此需要一种能源管理策略(EMS)来确定时间以及轨道的最小能量轨迹。同时,在计算赛车轨迹时,必须考虑到电动动力总成中的技术限制和组件行为。在本文中,我们提出了一种特殊类型的EMS的概念。这是基于生成时间最小全局轨迹的最佳控制问题(OCP),该全局轨迹通过直接正交搭配到非线性编程问题(NLPP)来解决,该轨迹通过转录解决。我们通过为整体EMS添加想法来扩展这个最小圈时间问题。这种方法证明了既定思想的基本可行性,例如由于EMS所涵盖的能量限制,不同的种族PHAPH和速度变化。同样,提出的概念构成了可以将其元件元模型的未来工作的基础,这些组件可以馈入OCP,以提高EMS控制输出的有效性。

The automation of passenger vehicles is becoming more and more widespread, leading to full autonomy of cars within the next years. Furthermore, sustainable electric mobility is gaining in importance. As racecars have been a development platform for technology that has later also been transferred to passenger vehicles, a race format for autonomous electric racecars called Roborace has been created. As electric racecars only store a limited amount of energy, an Energy Management Strategy (EMS) is needed to work out the time as well as the minimum energy trajectories for the track. At the same time, the technical limitations and component behavior in the electric powertrain must be taken into account when calculating the race trajectories. In this paper, we present a concept for a special type of EMS. This is based on the Optimal Control Problem (OCP) of generating a time-minimal global trajectory which is solved by the transcription via direct orthogonal collocation to a Nonlinear Programming Problem (NLPP). We extend this minimum lap time problem by adding our ideas for a holistic EMS. This approach proves the fundamental feasibility of the stated ideas, e.g. varying racepaths and velocities due to energy limitations, covered by the EMS. Also, the presented concept forms the basis for future work on meta-models of the powertrain's components that can be fed into the OCP to increase the validity of the control output of the EMS.

扫码加入交流群

加入微信交流群

微信交流群二维码

扫码加入学术交流群,获取更多资源