Feasibility study and benchmarking of embedded MPC for vehicle platoons

Iñaki Martín Soroa, Amr Ibrahim, Dip Goswami, Hong Li

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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This paper performs a feasibility analysis of deploying Model Predictive Control (MPC) for vehicle platooning on an On-Board Unit (OBU) and performance benchmarking considering interference from other (system) tasks running on an OBU. MPC is a control strategy that solves an implicit (on-line) or explicit (off-line) optimisation problem for computing the control input in every sample. OBUs have limited computational resources. The challenge is to implement an MPC algorithm on such automotive Electronic Control Units (ECUs) with an acceptable timing behavior. Moreover, we should be able to stop the execution if necessary at the cost of performance. We measured the computational capability of a unit developed by Cohda Wireless and NXP under the influence of its Operating System (OS). Next, we analysed the computational requirements of different state-of-the-art MPC algorithms by estimating their execution times. We use off-the-shelf and free automatic code generators for MPC to run a number of relevant MPC algorithms on the platform. From the results, we conclude that it is feasible to implement MPC on automotive ECUs for vehicle platooning and we further benchmark their performance in terms of MPC parameters such as prediction horizon and system dimension.

Originele taal-2Engels
TitelWorkshop on Autonomous Systems Design (ASD 2019)
RedacteurenSelma Saidi, Rolf Ernst, Dirk Ziegenbein
Plaats van productieWadern
UitgeverijSchloss Dagstuhl - Leibniz-Zentrum für Informatik
Aantal pagina's15
ISBN van elektronische versie978-3-95977-102-3
DOI's
StatusGepubliceerd - 1 mrt 2019
Evenement1st International Workshop on Autonomous Systems Design, ASD 2019 - Florence, Italië
Duur: 29 mrt 201929 mrt 2019

Publicatie series

NaamOpenAccess Series in Informatics
UitgeverijCurran Associates
Volume68
ISSN van geprinte versie2190-6807

Congres

Congres1st International Workshop on Autonomous Systems Design, ASD 2019
LandItalië
StadFlorence
Periode29/03/1929/03/19

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  • Citeer dit

    Soroa, I. M., Ibrahim, A., Goswami, D., & Li, H. (2019). Feasibility study and benchmarking of embedded MPC for vehicle platoons. In S. Saidi, R. Ernst, & D. Ziegenbein (editors), Workshop on Autonomous Systems Design (ASD 2019) [2] (OpenAccess Series in Informatics; Vol. 68). Wadern: Schloss Dagstuhl - Leibniz-Zentrum für Informatik. https://doi.org/10.4230/OASIcs.ASD.2019.2