An autonomous driving system having a three-layer framework to optimize energy consumption in autonomous driving by utilizing the driving trajectory of human drivers. The first layer involves smoothing out the driving path to reduce its curvature, thereby avoiding sudden changes in acceleration and velocity caused by abrupt path changes. The second layer is a trajectory optimization stage, where a relationship between speed and time in the human driving trajectory is assigned to the smoothed path. The acceleration is calculated at each moment based on the motor torque-rotational speed efficiency diagram and the corresponding output efficiency of the motor. A best efficiency interval is then determined based on a reference motor efficiency, which is then converted into an optimal speed and acceleration interval of each of the wheels. On the smooth path, the optimal speed and acceleration interval are jointly optimized to obtain the best driving trajectory in order to ensure that the motor operates in the high-efficiency interval. In the third layer, the generated optimal trajectory is combined with the model predictive control (MPC) method to generate the optimal steering angle to achieve accurate trajectory tracking.
AUTONOMOUS DRIVING SYSTEM WITH PRIORITIZING ENERGY-SAVING CONSIDERATIONS
2025-06-26
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |