Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed...

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AVL List GmbH (Headquarters) Public Energy-Efficient Cooperative Adaptive Cruise Control Dr. Stephen J. Jones, AVL List GmbH [email protected] +43 664 850 9172 N. Wikström, A. Ferreira Parrilla, R. Patil, E. Kural, A. Massoner, AVL List GmbH A. Grauers, Chalmers University of Technology

Transcript of Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed...

Page 1: Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed based on distance to & speed of preceding vehicle, e.g. measured using on-board

AVL List GmbH (Headquarters)

Public

Energy-Efficient Cooperative

Adaptive Cruise ControlDr. Stephen J. Jones, AVL List [email protected] +43 664 850 9172

N. Wikström, A. Ferreira Parrilla, R. Patil, E. Kural, A. Massoner, AVL List GmbH

A. Grauers, Chalmers University of Technology

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 2Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 3Public

Introduction4 Pillars of ADAS/AD Engineering Services

Trusted Engineering Service Provider & Development Partner at ADAS & Autonomous Driving with long term references at several OEMs

System Designsystem engineering,

use & test cases, architecture, component & function

specification

Tailored Control & SW Development

concept & series development customer features, modification/

adaptation

Advanced Predictive Functions improving vehicle attributes e.g. energy or fuel efficiency

Calibration, Testing & Validation

derivative integration, optimization & assessment, testing from lab, XiL to road

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 4Public

IntroductionMarket Drivers / Customer Requirements

▪ Accident free driving active safety functions e.g. emergency braking, lane keeping assistant

▪ Driver relief & comfort functions e.g. parking assistant, adaptive cruise control

▪ Connectivitye.g. smart phone interaction, real time traffic information, V2X, cloud computing

▪ Fuel/energy efficiency e.g. EV driving range, Fuel saving by predictive functions & platooning

▪ Operating cost: Driver substitution as TCO argument at mainly transport & shared mobility business

Key importance

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 6Public

IntroductionPredictive Energy Management Leveraging ADAS Data

PREDICTIVE CHARGINGTRAFFIC LIGHT

ASSISTANT

PREDICTIVE THERMALMANAGEMENT

PREDICTIVE ADAPTIVE CRUISE CONTROL

ECOROUTING

COASTING ASSISTANT

Sources: www, AVL

PREDICTIVE GEARSHIFT

ADAS/ADHMI

CONNECTED

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 7Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 8Public

Market Example: TLA Audi

• Audi announces first V2I service in 10 US cities (as of 19/11/18) with Traffic Light information system. System available in 2017 on Q7, A4 & A4 Allroad.

• Current system: Real-time communication with city’s traffic management system, displays traffic light status (red/orange/green) & “time-to-green”.

• Future dvpt: integration of system with start/stop function, Green Light Optimized Speed Advisory (GLOSA), optimized navigation routing & other predictive services.

https://media.audiusa.com/en-us/releases/241#gallery

https://media.audiusa.com/en-us/releases/92https://www.audi-mediacenter.com/en/audimediatv/video/audi-connect-online-traffic-light-information-2543

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 11Public

Market Example: TLAJaguar Land Rover

• GLOSA (Green Light Optimal Speed Advisory) system: V2X communication with traffic lights to advise driver of optimal approach speed to avoid having to stop at traffic light junctions.

• “Prevents drivers from racing to beat lights & improves air quality by reducing harsh acceleration or braking near lights.”

• Trials on Jaguar F-Pace.

• Works in conjunction with other ADAS: Adaptive Cruise Control, Intersection Collision Warning.

https://media.jaguarlandrover.com/news/2018/11/jaguar-land-rover-gets-green-light-solve-150-year-old-problem?q=&start=0&brand=corporate

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 13Public

▪ Uses V2I (Vehicle-to-Infrastructure) data to intelligently approach multiple Traffic Light (TL):• Goal to find most energy efficient velocity.

▪ Model Predictive Control (MPC) formulation: • Receding horizon approach.• Real-time optimization by cost function minimization & constraints.

Traffic Light Assistant (TLA)AVL’s TLA Visualized

C2I

Communication

Digital Map

GPS Navigation

System

Electronic

Horizon

Recommended cruising speed

Vo=

40km/h

Optimal speed profile

System

activation

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 14Public

EnergySavings*

Time Savings*

17% 3.8%

Battery SoC as metric of EV energy savings

Traffic Light AssistantResults of AVL’s 1st Gen. TLA for 4WD EV in 2013

* Depends on test case, baseline, etc.

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 15Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 16Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 17Public

Energy-Efficient CACC – Problem OverviewWhat is Cooperative Adaptive Cruise Control?

Cruise Control (CC): Longitudinal speed control with set speed defined by human driver.

Adaptive Cruise Control (ACC): Adapts speed based on distance to & speed of preceding vehicle, e.g.

measured using on-board sensors such as RADAR or Camera.

Cooperative Adaptive Cruise Control (CACC): ACC extension supported by communication with

surrounding traffic & infrastructure, possibly also other off-board data sources e.g. cyclists, pedestrians.

Adaptive Cruise Control(ACC)

Ego vehicle Preceding

vehicle(s)

Cruise Control(CC)

Ego vehicle

Cooperative Adaptive Cruise Control (CACC)

Ego vehicle Preceding

vehicle(s)Infrastructure

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 18Public

Energy-Efficient CACC – Problem OverviewInputs & Constraints

Ego vehicle Preceding vehicles

… …

Following vehicle

Infrastructure-to-vehicle

(I2V)

Radar

Traffic light

1

Traffic light

2

Vehicle-to-Vehicle

(V2V)

V2V / I2V

Vehicle following known path

Route contains altitude, curvature, traffic lights, ...

Includes time-dependent constraints such as traffic

light signal phases

Holistic approach needed!

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 19Public

Energy-Efficient CACC – Problem OverviewApproach

▪ Holistic & full range predictive speed control strategy (CACC) including ego-vehicle & its static

& dynamic powertrain characteristics, uses V2X derived RT traffic, infrastructure & route data.

▪ Optimizes in real-time trade-off between energy efficiency, driver comfort & safety.

Velocity 𝒗

Acceleration 𝒂

Powertrain Model

Gear 𝑮

Road Inclination 𝜽

Ego Vehicle Preceding Vehicle

V2X (Vehicle to Anything)

On-Board Sensors

(e.g. radar)

Traffic Light

Vehicle-to-Vehicle (V2V)

Energy savings up to 30%*

Energy Consumption Map computed Online in real-time Optimization

Vehicle-to-Infrastructure (V2I)

Inertia, Drag, Rolling Res., Gravity

* Depends on test case, baseline, etc.

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 20Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 21Public

Energy-Efficient CACC – MPCIntroduction to Model Predictive Control (MPC)

𝑢

𝒖𝒐𝒑𝒕 = 𝑢 0 , 𝑢 1 ,… , 𝑢 𝐻𝑇𝑇

Optimal sequence of control inputs over prediction horizon 𝐻𝑇

* i.e. vehicle & driving environment

*

** vehicle states, traffic light information, etc.

**

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 22Public

Energy-Efficient CACC – MPCHybrid Model Predictive Control

▪ Hybrid* Model Predictive Control (MPC) dynamically incorporates descriptions of upcoming traffic & road conditions as constraints in receding horizon.

▪ Non-linear constraints like energy consumption, gear shifts, full load, & road attributes (e.g. gradient, curvature, speed limits) modelled.

▪ eHorizon & V2X used for better predictions of preceding traffic & infrastructure, including traffic lights, variable speed limits, delivery & bus stops.

Energy consumption mapincluding gear shifting

Acceleration limitsincluding road gradient

Road segmentation for topology, speed limits, etc.

*Note Hybrid here refers to modelling technique, not the powertrain type

1st2nd

3rd4th5th

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 29Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Results

4. Summary & Conclusion

Page 20: Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed based on distance to & speed of preceding vehicle, e.g. measured using on-board

Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 31Public

Energy-Efficient CACC – Simulation ResultsGraz Route Simulation without Traffic

Energy savings: 25% without traffic,without an increase in travel time

Adjustable travel time & driver comfortability

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 32Public

Energy-Efficient CACC – Simulation ResultsGraz Route Simulation with Traffic

Energy savings: 16% with traffic,without an increase in travel time

Adjustable travel time & driver comfortability

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Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 33Public

Energy-Efficient CACC – Testbed ResultsAustrian FFG TASTE Project

“Traffic Assistant Simulation & Testing Environment“.10.2015 – 06.2017

▪ Virtual test environment for ADAS, including real communication units.▪ RT interaction / communication of traffic control infrastructure & cars.▪ Specific testbed setting for specialized application.▪ Testbed & Road testing with real vehicle & V2X units.

EECACC controlled test case achieves lower fuel consumption by end of the maneuver (up to 25% diesel consumption savings measured).

Page 23: Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed based on distance to & speed of preceding vehicle, e.g. measured using on-board

Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 34Public

Energy-Efficient CACCContents

1. Introduction to Predictive Energy Management

2. Traffic Light Assistant

3. Energy-Efficient Cooperative Adaptive Cruise Control

a) Problem Overview

b) Model Predictive Control

c) Simulation Results

d) Testbed Results

4. Summary & Conclusion

Page 24: Energy-Efficient Cooperative Adaptive Cruise Control · Adaptive Cruise Control (ACC): Adapts speed based on distance to & speed of preceding vehicle, e.g. measured using on-board

Stephen Jones, N. Wikström, A. Ferreira Parrilla | DS | 28 February 2019 | 35Public

Energy-Efficient CACCSummary

▪ Increasing interest in V2X communications to intelligently connect conventional & electrified vehicles.

▪ V2X supported ADAS such as simple Traffic Light Assistants, now starting to be introduced in market.

▪ Efficiency, safety & convenience all benefit from optimized vehicle speed profiles.

▪ AVL’s Energy-Efficient Cooperative Adaptive Cruise Control (EECACC) reduces energy consumption by

up to 30%* in simulated city scenario, 25% on testbed.

▪ EECACC considers static layout, sizing & efficiency of powertrain, as well as dynamic state (e.g. SoC,

temperature) of powertrain, road topology, traffic, & traffic light signal phasing & timing (SPAT) data.

▪ Benefits of EECACC extended to other functions e.g. predictive hybrid powertrain mode selection.

* Like most predictive functions, the benefits depend on specific use case, baseline taken, etc.

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