This thesis deals with the planning of the optimal speed profile for an autonomous electric vehicle to minimize consumption or maximize comfort. First of all, the model of a commercial electric vehicle was created. Subsequently, a case study and cost indices were defined. In particular, the problem of defining an exhaustive merit function for comfort, accounting for motion sickness aspect, was addressed. Among the various optimization techniques the Two States Dynamic Programming was chosen. The algorithm was applied to the case study. To this aim a simplified model to be used for optimization was introduced. A sensitivity analysis of the parameters was carried out. In the end, the results were compared with those obtained with another optimization algorithm.
In questa tesi è stato affrontato il problema della generazione del profilo di velocità ottimo per un veicolo elettrico a guida autonoma con l’obbiettivo di minimizzare i consumi o massimizzare il comfort. Prima di tutto è stato creato un modello prendendo come riferimento un veicolo elettrico attualmente in commercio. Successivamente sono stati definiti un caso di studio e gli indici di costo. E’ stato affrontato in particolare il problema della definizione di una cifra di merito relativa al comfort che consideri anche la motion sickness. Tra le varie tecniche di ottimizzazione è stato scelto il Dynamic Programming a due stati. L’algoritmo è stato poi adattato al caso di studio. A tal fine è stato introdotto un modello semplificato a cui fare riferimento per l’ottimizzazione. E’ stata svolta un’analisi di sensitività dei parametri. In fine, i risultati sono stati confrontati con quelli ottenuti da un’altro algoritmo.
Planning of the optimal speed profile for an autonomous vehicle accounting for passengers' comfort
MANDUCA, GIANLUCA
2018/2019
Abstract
This thesis deals with the planning of the optimal speed profile for an autonomous electric vehicle to minimize consumption or maximize comfort. First of all, the model of a commercial electric vehicle was created. Subsequently, a case study and cost indices were defined. In particular, the problem of defining an exhaustive merit function for comfort, accounting for motion sickness aspect, was addressed. Among the various optimization techniques the Two States Dynamic Programming was chosen. The algorithm was applied to the case study. To this aim a simplified model to be used for optimization was introduced. A sensitivity analysis of the parameters was carried out. In the end, the results were compared with those obtained with another optimization algorithm.File | Dimensione | Formato | |
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2019_12_Manduca.pdf
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https://hdl.handle.net/10589/152532