Battery Energy Consumption Analysis of Automated Vehicles Based on MPC Trajectory Tracking Control

Abstract

In the field of automated technology research and development, trajectory tracking plays a crucial role in the energy consumption of the vehicle’s power battery. Reducing the deviation between the actual trajectory and the reference trajectory is the focus of trajectory tracking research. This paper proposes the use of the model predictive control (MPC) method to reduce the deviation of lateral and longitudinal position between the actual driving trajectory and the reference trajectory. First, the driving conditions of the vehicle are reflected by establishing the vehicle dynamics model. Then, the MPC trajectory tracking controller is built by designing the objective function with constraints; Finally, the feasibility of this approach was verified by a joint Carsim-Simulink simulation. The simulation results show that the MPC controller designed in this paper can track the trajectory better, and reduce the lateral and longitudinal position deviation. To a certain extent, the battery energy consumption is reduced and the accuracy of the tracking trajectory and the safety of vehicle driving are improved.

Keywords

• automated
• trajectory tracking
• model predictive control
• energy consumption