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Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface

  • Conference paper
  • First Online:
Smart Cities, Green Technologies, and Intelligent Transport Systems (SMARTGREENS 2017, VEHITS 2017)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 921))

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Abstract

Utilising optimal control presents an opportunity to increase the fuel efficiency in an off-road transport mission conducted by an articulated hauler. A human machine interface (HMI) instructing the hauler operator to follow the fuel optimal vehicle speed trajectory has been developed and tested in real working conditions. The HMI implementation includes a Dynamic Programming based method to calculate the optimal vehicle speed and gear shift trajectories. Input to the optimisation algorithm is road related data such as distance, road inclination and rolling resistance. The road related data is estimated in a map module utilising an Extended Kalman Filter (EKF), a Rauch-Tung-Striebel smoother and a data fusion algorithm. Two test modes were compared: (1) The hauler operator tried to follow the optimal vehicle speed trajectory as presented in the HMI and (2) the operator was given a constant target speed to follow. The objective of the second test mode is to achieve an approximately equal cycle time as for the optimally controlled transport mission, hence, with similar productivity. A small fuel efficiency improvement was found when the human machine interface was used.

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Acknowledgements

The authors acknowledge Volvo CE and FFI - Strategic Vehicle Research and Innovation, for sponsorship of this work.

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Authors and Affiliations

  1. Department of Electrical Engineering, Linköping University, 581 83, Linköping, Sweden

    Jörgen Albrektsson & Jan Åslund

  2. Volvo Construction Equipment, 631 85, Eskilstuna, Sweden

    Jörgen Albrektsson

Authors
  1. Jörgen Albrektsson
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  2. Jan Åslund
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Corresponding author

Correspondence to Jörgen Albrektsson .

Editor information

Editors and Affiliations

  1. Innovation Value Institute, National University of Ireland, Maynooth, Maynooth, Ireland

    Brian Donnellan

  2. Siemens Corporate Technology, Munich, Germany

    Cornel Klein

  3. School of Computing, Dublin City University, Dublin, Ireland

    Markus Helfert

  4. Ford Research and Advanced Engineering, Dearborn, MI, USA

    Oleg Gusikhin

  5. University of Lisbon, Lisbon, Portugal

    António Pascoal

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Albrektsson, J., Åslund, J. (2019). Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface. In: Donnellan, B., Klein, C., Helfert, M., Gusikhin, O., Pascoal, A. (eds) Smart Cities, Green Technologies, and Intelligent Transport Systems. SMARTGREENS VEHITS 2017 2017. Communications in Computer and Information Science, vol 921. Springer, Cham. https://doi.org/10.1007/978-3-030-02907-4_10

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  • DOI: https://doi.org/10.1007/978-3-030-02907-4_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-02906-7

  • Online ISBN: 978-3-030-02907-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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