Research On Hierarchical Control Strategy Of Predictive Cruise For Commercial Vehicles Based On DP-MPC

With the proposal of "Emission peak,Carbon neutrality" century goal,automatic driving has ushered in a new proposition – energy-saving and carbon reduction based on meeting the safety requirements.At the same time,the current commercial vehicle industry,which accounts for a relatively large amount of total fuel consumption,is developing rapidly,and people’s attention to the economic driving of commercial vehicles is gradually increasing.The integration of intelligent control technology to effectively improve the economy of commercial vehicle driving is the focus of current research.Therefore,this paper develops a hierarchical predictive cruise control system for commercial vehicles capable of incorporating road slope information.The system first optimizes the reference vehicle speed through the upper Dynamic Programming(DP)algorithm,and then tracks the reference speed in real time through the lower Model Predictive Control(MPC)algorithm.The final control algorithm completes the longitudinal speed and gear optimization of the vehicle,and the application of the control system realizes the energy saving and consumption reduction of the vehicle.In this paper,we first model each part of the predictive energy-saving control system of commercial vehicles according to the overall framework,such as the vehicle longitudinal dynamics model,fuel consumption model and gear model,and then describe the unconstrained multi-objective optimization problem of the system.The paper also further develops a detailed description of the theoretical basis related to the developed hierarchical predictive cruise control strategy for commercial vehicles,which is based on the hierarchical control of DP algorithm and MPC algorithm.The detailed process of how to use this control algorithm to achieve the optimal solution of the multi-objective optimization problem is also further clarified.On this basis,a simulation model is developed on the MATLAB/Simulink platform.The proposed DP and MPC hierarchical control strategy is compared with pure MPC control strategy and traditional PID control strategy under different operating conditions.Real road simulation results demonstrate that the algorithm proposed in this paper can save approximately 5% of fuel compared to traditional algorithms.This proves the effectiveness and superiority of the developed control strategy in improving the fuel efficiency of vehicle operation.