Eco-Coasting Controller Using Road Grade Preview: Evaluation and Online Implementation Based on Mixed Integer Model Predictive Control
Yongjun Yan, Nan Li, Jinlong Hong, Bingzhao Gao, Jia Zhang, Hong Chen, Jing Sun, Ziyou Song
Abstract
Coasting is a common method used in eco-driving to reduce fuel consumption by utilizing kinetic energy. However, in order to avoid excessive computation induced by integer coasting maneuvers, the powertrain model used in eco-driving controllers that rely on look-ahead road information has been oversimplified. This oversimplification assumes that the engine goes to idle when coasting, which significantly limits the fuel-saving potential. To address this issue, we propose an eco-coasting strategy that calculates the optimal timing and duration of coasting maneuvers using road information preview. Different from the engine-idling method, two control-oriented coasting methods, fuel cut-off method and engine start/stop method are formulated for the model-based optimal control. To evaluate and choose the best coasting mechanism for eco-coasting strategy, dynamic programming (DP) is performed to provide the globally optimal performance (i.e., benchmark results) for evaluating the engine-idling method, fuel cut-off method, and engine start/stop method. Based on the offline simulation results, the engine start/stop method consistently outperforms the fuel cut-off method in terms of both fuel consumption and travel time. This is attributed to the engine start/stop method eliminating the engine drag torque during deceleration, despite the additional energy cost required for engine restart being taken into account in the modeling, thus providing a fair evaluation. Then, the online performance of the eco-coasting strategy with engine start/stop mechanism is evaluated using Mixed Integer Model Predictive Control (MIMPC). We propose a tailored mixed-integer programming algorithm to facilitate online implementation. Simulation results show that the proposed eco-coasting strategy achieves near-optimal performance compared to DP and outperforms the rule-based method.