Application of Energy Optimal Control for Longitudinal Control in Autonomous Driving

Abstract

Energy optimal control (EOC) is applied to the case in that the hybrid electric vehicle performs position control. A virtual drive system driven by the position error signal is added to the model of the controlled object, and the power consumption is added to the evaluation function to derive the optimal control law. It is shown that good control is possible even when position control and energy allocation cannot be coordinated well with ordinary control.