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Real-Time Co-optimization of Gear Shifting and Engine Torque for Predictive Cruise Control of Heavy-Duty Trucks

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Na, X 
Liu, H 
Wang, Y 
Yang, Z 


jats:titleAbstract</jats:title>jats:pFuel consumption is one of the main concerns for heavy-duty trucks. Predictive cruise control (PCC) provides an intriguing opportunity to reduce fuel consumption by using the upcoming road information. In this study, a real-time implementable PCC, which simultaneously optimizes engine torque and gear shifting, is proposed for heavy-duty trucks. To minimize fuel consumption, the problem of the PCC is formulated as a nonlinear model predictive control (MPC), in which the upcoming road elevation information is used. Finding the solution of the nonlinear MPC is time consuming; thus, a real-time implementable solver is developed based on Pontryagin’s maximum principle and indirect shooting method. Dynamic programming (DP) algorithm, as a global optimization algorithm, is used as a performance benchmark for the proposed solver. Simulation, hardware-in-the-loop and real-truck experiments are conducted to verify the performance of the proposed controller. The results demonstrate that the MPC-based solution performs nearly as well as the DP-based solution, with less than 1% deviation for testing roads. Moreover, the proposed co-optimization controller is implementable in a real-truck, and the proposed MPC-based PCC algorithm achieves a fuel-saving rate of 7.9% without compromising the truck’s travel time.</jats:p>


Acknowledgements: The authors would like to thank Zhenyi Hao, Xianning Li for their help in HIL experiments.


4005 Civil Engineering, 4007 Control Engineering, Mechatronics and Robotics, 40 Engineering, 4010 Engineering Practice and Education

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Chinese Journal of Mechanical Engineering (English Edition)

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Springer Science and Business Media LLC
International Technology Cooperation Program of Science and Technology Commission of Shanghai Municipality (21160710600)
the National Nature Science Foundation of China (52372393)
Shanghai Pujiang Program (21PJD075)