Abstract
This research proposes a linear program (LP) formulation for energy-minimizing vehicle velocity optimization in hilly terrain and demonstrates comparable performance to its traditional formulation as a dynamic program (DP). The LP captures the kinetic energy dynamics and road grade preview exactly and employs a novel piecewise linear approximation to travel time. The LP runs faster than its DP counterpart and can run in real-time and in closed-loop control applications. To demonstrate its effectiveness, the LP velocity planner is integrated with a receding horizon motion planner and simulated in a Class 8 tractor–trailer application over a real road slope profile, with and without traffic. In these closed-loop simulations, energy savings are observed relative to an explicit cruise control law when maintaining constant speed requires excessive braking.
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