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Real-Time Capable Path Planning for Energy Management Systems in Future Vehicle Architectures

Brembeck, Jonathan und Winter, Christoph (2014) Real-Time Capable Path Planning for Energy Management Systems in Future Vehicle Architectures. In: IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium, 2014-06-08 - 2014-06-11, Dearborn, Michigan, USA. doi: 10.1109/IVS.2014.6856456.

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Kurzfassung

In this paper an energy optimal path planning and velocity profile generation for our highly maneuverable Robotic Electric Vehicle research platform ROboMObil is presented. The ROMO is a development of the German Aerospace Center’s Robotics and Mechatronics Center to cope with several research topics, like energy efficient, autonomous or remote controlled driving for future (electro-) mobility applications. The main task of the proposed algorithms is to calculate an energy optimal trajectory in a real-time capable way. It is designed to incorporate data from actual traffic situations (e.g. oncoming traffic) or changed conditions (e.g. snowy conditions). The resulting trajectory is then fed forward to a lower level time independent path following control [2] that calculates the motion demands for our energy optimal control allocation. This in turn distributes the demand to the actuators of the over-actuated vehicle. We show a numerical reliable way to formulate the energy optimal path planning optimization objective, which is able to provide a consistent replanning feature considering the actual vehicle states. Besides this, different types of optimization methods are evaluated for their real-time capabilities. The velocity profile will be calculated afterwards and the generation of the profile is also enabled to handle dynamic replanning. Finally, we show several experimental results, using a virtual road definition and tests on a commercial real-time platform.

elib-URL des Eintrags:https://elib.dlr.de/95011/
Dokumentart:Konferenzbeitrag (Poster)
Titel:Real-Time Capable Path Planning for Energy Management Systems in Future Vehicle Architectures
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Brembeck, JonathanJonathan.Brembeck (at) dlr.dehttps://orcid.org/0000-0002-7671-5251NICHT SPEZIFIZIERT
Winter, ChristophChristoph.Winter (at) DLR.dehttps://orcid.org/0000-0002-6949-303XNICHT SPEZIFIZIERT
Datum:2014
Erschienen in:IEEE Intelligent Vehicles Symposium
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Ja
DOI:10.1109/IVS.2014.6856456
Status:veröffentlicht
Stichwörter:path planning, energy management, real-time
Veranstaltungstitel:IEEE Intelligent Vehicles Symposium
Veranstaltungsort:Dearborn, Michigan, USA
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:8 Juni 2014
Veranstaltungsende:11 Juni 2014
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:Bodengebundener Verkehr (alt)
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V BF - Bodengebundene Fahrzeuge
DLR - Teilgebiet (Projekt, Vorhaben):V - Fahrzeugenergiesystem III (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Systemdynamik und Regelungstechnik > Fahrzeug-Systemdynamik
Hinterlegt von: Winter, Christoph
Hinterlegt am:03 Mär 2015 09:47
Letzte Änderung:24 Apr 2024 20:00

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