Optimized speed and gearshift trajectories planning for autonomous electric vehicles

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5 Scopus citations


This paper proposes a hierarchical control scheme to solve the control problem of hybrid systems. In particular, the control variables of hybrid systems consisting of continuous and discrete variables have been decomposed in order to formulate the hierarchical structure. The proposed approach solves the decomposed problems separately, and then the solutions obtained are integrated to address the original hybrid system control problem. Compared to other conventional methods, our approach can significantly reduce the computational burden, which is the major contribution of this study. The proposed approach has been applied to the problem with gearshift and speed controls for autonomous electric vehicles, a typical control problem for a hybrid system. The gearshift and speed profiles are controlled using the short preview traffic information in order to optimize the battery energy consumption in the model predictive control framework. In addition, the performance and feasibility of the proposed algorithm has been verified by means of a simulation test over various driving conditions.

Original languageEnglish
Pages (from-to)669-679
Number of pages11
JournalTransactions of the Korean Society of Automotive Engineers
Issue number10
StatePublished - Oct 2020


  • Autonomous vehicle
  • Dynamic programming
  • Electric vehicle
  • Hybrid system
  • Model predictive control


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