Derivation of the Reference Speed Waveform Considering the Low Fuel Consumption for a Robotic Driver

摘要

Robotic drivers are used in the vehicle performance test. The robotic driver has been expected to test the vehicle performance for the long time with high reproducibility. Applying to driving on an actual road as well as a running test is also expected because improvement of a vehicle isn’t required. In order to drive on actual road, it is necessary to drive with pedal operation like a person. However, unlike a professional driver, it is difficult for a robotic driver to drive with smooth pedal operations and low fuel consumption. First, we performed a preliminary test by a professional driver and a robotic driver. From this test, we found that the square value of the power of the vehicle was effective for driving with low fuel consumption. Therefore, we propose the objective function considering the square value of the power. Then, we derived the reference velocity in a driving cycle'’s tolerance for the robotic driver by the proposed objective function. Finally, we performed the vehicle test by the robotic driver. We made sure that the proposed system was effective from the result of the actual vehicle tests.