4륜 구동 전기 자동차의 안전 거리를 고려한 모델 예측 제어 기반 실시간 속도 계획법

Abstract

In this paper, speed planning considering safety distance from preceding vehicle for battery electric vehicle was developed. The developed distance-based speed planning consists of quadratic programming-based offline planning and model predictive control-based online planning in a hierarchical structure. To apply the linear optimization technique, this paper proposes a motor power consumption model divided into motor driving and regenerative braking. In addition, in this paper, developed a speed planning based on non-linear optimization and compared the proposed speed planning with the computing time and electric fuel efficiency.