Coordinated Receding-Horizon Control of Battery Electric Vehicle Speed and Gearshift Using Relaxed Mixed-Integer Nonlinear Programming

In this article, we investigate coordinated receding-horizon control of vehicle speed and transmission gearshift for energy-efficient operation automated battery electric vehicles (BEVs). The introduction multispeed transmissions in BEVs enables manipulation motor operating point under given acceleration command, thus creating the opportunity to further improve BEV energy efficiency. However, co-optimizing leads a mixed-integer nonlinear programming (MINLP) problem, it is well known that solving MINLP problems computationally very challenging. To address challenge, propose novel continuous relaxation technique computation solutions co-optimization problem using off-the-shelf solvers. After analyzing theoretical properties proposed technique, demonstrate its effectiveness through simulation-based case studies, where show can lead considerably greater efficiency than optimizing them separately or sequentially reduce computational cost level comparable time budget available onboard implementation.