A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles

S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, M. Dellnitz, IFAC-PapersOnLine 50 (2017) 8674–8679.

Download
No fulltext has been uploaded.
Journal Article | Published | English
Author
; ; ; ; ;
Abstract
We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g. as a reaction to changes in the environment or the system state itself. The algorithm utilises elements from various well-established concepts, namely multiobjective optimal control, economic as well as explicit model predictive control and motion planning with motion primitives. In order to realise real-time applicability, we split the computation into an online and an offline phase and we utilise symmetries in the open-loop optimal control problem to reduce the number of multiobjective optimal control problems that need to be solved in the offline phase. The results are illustrated using the example of an electric vehicle where the longitudinal dynamics are controlled with respect to the concurrent objectives arrival time and energy consumption.
Publishing Year
Journal Title
IFAC-PapersOnLine
Volume
50
Issue
1
Page
8674-8679
ISSN
LibreCat-ID

Cite this

Peitz S, Schäfer K, Ober-Blöbaum S, Eckstein J, Köhler U, Dellnitz M. A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles. IFAC-PapersOnLine. 2017;50(1):8674-8679. doi:10.1016/j.ifacol.2017.08.1526
Peitz, S., Schäfer, K., Ober-Blöbaum, S., Eckstein, J., Köhler, U., & Dellnitz, M. (2017). A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles. IFAC-PapersOnLine, 50(1), 8674–8679. https://doi.org/10.1016/j.ifacol.2017.08.1526
@article{Peitz_Schäfer_Ober-Blöbaum_Eckstein_Köhler_Dellnitz_2017, title={A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles}, volume={50}, DOI={10.1016/j.ifacol.2017.08.1526}, number={1}, journal={IFAC-PapersOnLine}, author={Peitz, Sebastian and Schäfer, Kai and Ober-Blöbaum, Sina and Eckstein, Julian and Köhler, Ulrich and Dellnitz, Michael}, year={2017}, pages={8674–8679} }
Peitz, Sebastian, Kai Schäfer, Sina Ober-Blöbaum, Julian Eckstein, Ulrich Köhler, and Michael Dellnitz. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles.” IFAC-PapersOnLine 50, no. 1 (2017): 8674–79. https://doi.org/10.1016/j.ifacol.2017.08.1526.
S. Peitz, K. Schäfer, S. Ober-Blöbaum, J. Eckstein, U. Köhler, and M. Dellnitz, “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 8674–8679, 2017.
Peitz, Sebastian, et al. “A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles.” IFAC-PapersOnLine, vol. 50, no. 1, 2017, pp. 8674–79, doi:10.1016/j.ifacol.2017.08.1526.

Export

Marked Publications

Open Data LibreCat

Search this title in

Google Scholar