VIRTUAL VEHICLE

DIGITAL MOBILITY
A novel model-based heuristic for energy-optimal
motion planning for automated driving VIRTUAL VEHICLE Research Center

www.v2c2.at
Zlatan Ajanovic, Michael Stolz, Martin Horn
© VIRTUAL VEHICLE
 Motivation

The transportation sector is the 2nd

largest energy consuming sector,
Approx. 30% variations in individual
energy consumptions,
Vehicle automation enables precise
vehicle control and predictive
planning.

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 Eco-driving: Optimal Motion planning

Vision:
To plan motion of a vehicle from point A to point B using the least energy while
complying with all constraints (other traffic participants, driving rules, speed limits, traffic
lights, etc.) based on available environment perception data and offline map data.

Challenges:
• computational complexity,
• non-linear models,
• long planning horizons,
• dynamic environment,
• combinatorial aspects, etc.

07.06.2018 / Ajanovic 15th IFAC Symposium on Control in Transportation Systems, Savona, Italy © VIRTUAL VEHICLE 3
 Problem statement

Longitudinal Vehicle model

force balance

Cost function

hourly rate
electricity price

w.r.t. velocity and acceleration constraints

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 Selected approaches in literature

Dynamic programming
+ Optimal solution,
+ Well established,
+ Systematic search based on Bellman's Principle of Optimality,
- Scales poorly for higher dimensions – “curse of dimensionality”,
- Explores the whole search space.
A* search
+ Informed search, explores only “promising” space according to the heuristic,
+ Optimal if heuristic is admissible,
+ Scales better with appropriate heuristic,
- Still not much explored for energy-optimal motion planning,
- most of the heuristics are not admissible and/or precise enough.

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 A* based optimal motion planner

admissibility and precision

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 Heuristic function

Total energy consumption

Acceleration/decceleration related work

Road slope related work

Rolling resistance related work

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

Optimal cruising velocity

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 Air-drag and auxiliary power related energy

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 Air-drag and auxiliary power related energy

If

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 Air-drag and auxiliary power related energy

If

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 Conclusion on heuristics

Energy considered in state of the art admissible heuristics:

Efficiency applied for State of the art heuristics:

Proposed heuristics considers air-drag and auxiliary power:

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 Motion planning using proposed heuristic

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 Comparison

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 Conclusion and outlook

Closed-form formula for optimal cruising velocity,

Integration of operational costs into optimization,
A novel model-based heuristic function,
• 5 times smaller estimation error and
• 2 times better search efficiency than other SoA heuristics
Outlook:
Dynamic environment with traffic lights, other vehicles, etc.
Machine Learning for learning heuristic function.

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 Outlook: Dynamic environment

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 Outlook: Dynamic environment

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 Outlook: Dynamic environment

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VIRTUAL VEHICLE
DIGITAL MOBILITY
THANK YOU ZLATAN
AJANOVIC
VIRTUAL VEHICLE Research Center

Researcher
Control Systems Group
www.v2c2.at
VIRTUAL VEHICLE Research Center is funded within the COMET – Competence Centers for Excellent Technologies – programme by the Austrian Federal
Ministry for Transport, Innovation and Technology (BMVIT), the Federal Ministry for Digital and Economic Affairs (BMDW), the Austrian Research Promotion
Agency (FFG), the province of Styria and the Styrian Business Promotion Agency (SFG). The COMET programme is administrated by FFG.
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