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

Brembeck, Jonathan and 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, 08.-11. Jun. 2014, Dearborn, Michigan, USA.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/95011/
Document Type:Conference or Workshop Item (Poster)
Title:Real-Time Capable Path Planning for Energy Management Systems in Future Vehicle Architectures
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brembeck, JonathanJonathan.Brembeck (at) dlr.deUNSPECIFIED
Winter, ChristophChristoph.Winter (at) DLR.deUNSPECIFIED
Date:2014
Journal or Publication Title:IEEE Intelligent Vehicles Symposium
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:path planning, energy management, real-time
Event Title:IEEE Intelligent Vehicles Symposium
Event Location:Dearborn, Michigan, USA
Event Type:international Conference
Event Dates:08.-11. Jun. 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugenergiesystem III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Winter, Christoph
Deposited On:03 Mar 2015 09:47
Last Modified:31 Jul 2019 19:51

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