智能网联混合动力车辆速度规划的多目标协同控制研究

doi:10.19562/j.chinasae.qcgc.2021.07.001

Abstract

Abstract:

Considering the multiple objectives of vehicle safety， mobility， energy consumption economy， comfortability as well as battery aging， this paper conducts real?time speed planning for intelligent connected hybrid electric buses in the curve road scenario. Firstly， the objective function aims for minimizing the total weighted cost associated with energy consumption， battery aging， mobility and comfortability where the speed and battery state?of?charge are chosen as state variables， and the acceleration and engine?generator?unit output power are chosen as control variables. Then， the multi?objective coordinated control based on model prediction is implemented while satisfying the constraints of curve driving safety and the physical characteristics of powertrain and battery system. Moreover， the dynamic programming algorithm is applied to solve the multiple optimization problem over the preview horizon to realize real?time speed planning and energy allocation. At the same time， different weights of mobility and comfortability on performance are discussed. The results show that （1） the control strategy considering the battery aging can lower the aging cost and total cost by 25.8% and 2.3% respectively without affecting the vehicle power and mobility；（2） Improving the weight of mobility cost shortens the driving time， but raises the total cost；（3） Improving the weight of comfortability can constrain the speed fluctuation， and reduce the total cost.

Key words: intelligent connected hybrid vehicles, speed planning, multiple objective optimization, energy management, battery aging, model predictive control

Shaobo Xie,Huiran Luo,Qiankun Zhang,Kangkang Zhang. Research on Multiple Objective Coordinated Control of Speed Planning for Intelligent Connected Hybrid Electric Vehicles[J].Automotive Engineering, 2021, 43(7): 953-961.

Figures/Tables 21

$t e x p e c t$ /s	气耗量/m³	电耗量/（kW·h）	电池老化成本/元	综合成本/元	平均车速/（km·h^-1）
5	0.61	0.20	0.21	2.61	56.71
6.5	0.38	0.65	0.39	2.29	54.47
7	0.54	0.14	0.15	2.24	52.01
7.5	0.51	0.14	0.13	2.13	50.24
8	0.45	0.26	0.11	1.98	47.10

$λ$	气耗量/m³	电耗量/（kW·h）	电池老化成本/元	综合成本/元	平均车速/（km·h^-1）
0.1	0.45	0.27	0.12	2.01	50.17
1	0.41	0.43	0.20	2.08	52.29
3	0.54	0.14	0.15	2.24	52.01
4	0.56	0.14	0.15	2.32	52.10
10	0.55	0.14	0.15	2.30	52.08

$β$	气耗量/m³	电耗量/（kW·h）	电池老化成本/元	综合成本/元	平均车速/（km·h^-1）
0.5	0.32	0.87	0.37	2.25	51.54
3.5	0.56	0.14	0.15	2.32	52.98
5	0.54	0.14	0.15	2.24	52.01
10	0.41	0.45	0.21	2.09	52.49
40	0.42	0.35	0.19	2.03	51.28

References 18

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参数	数值
长×宽×高/mm	11 980×2 500×3 200
前/后悬/mm	2 585/3 295
前/后轮距/mm	2 053/1 830
轴距/mm	6 100
整备质量/kg	14 500
轮边减速器减速比	13.9

考虑电池老化与否	气耗量/m³	电耗量/（kW·h）	电池老化成本/元	综合成本/元	平均车速/（km·h^-1）
否	0.41	0.44	0.31	2.19	52.29
是	0.44	0.33	0.23	2.14	52.20

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Research on Multiple Objective Coordinated Control of Speed Planning for Intelligent Connected Hybrid Electric Vehicles

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