Trajectory optimization of an electric vehicle with minimum energy consumption using inverse dynamics model and servo constraints

Abstract

Trajectory planning is a crucial aspect of autonomous driving for energy conservation ans savings, especially in electric vehicles (EVs). A particular vehicle inverse dynamics model is necessary to calculate the required torque and steering control for following the target trajectory. Consequently, the energy consumption of an EV can be minimized through optimal trajectory planning. This study proposes a method of optimizing an EV’s trajectory to reduce energy consumption. First, the vehicle inverse dynamics model is developed using a semi-recursive method for modeling multibody dynamics. The suspension, steering, and braking system’s dynamic properties are considered and modeled. Second, the servo constraints are formulated within given vehicle states and kinematic constraints to address the inverse dynamics of an EV. Third, a procedure for optimizing trajectories has been developed using an inverse dynamics model, servo constraints, and the Ritz method. The results indicate that the optimal trajectory uses the least amount of energy. The effects of the trajectory on energy consumption is also investigated. The necessary torques are applied to the left and right wheels, as well as the steering system’s control input. A precise inverse dynamics model and servo constraints are used in self-driving EVs’ proposed trajectory optimization method.