Optimal Gear Shift Schedule Design for Automated Vehicles: Hybrid System Based Analytical Approach

In this paper, we present a systematic design framework for gear shift schedule using hybrid system theory primarily intended for automated vehicles. The longitudinal motion of the vehicle is regulated by a PI controller that determines the required axle torque. The longitudinal dynamics of the vehicle with a gear box is modeled as a hybrid system, and an optimization-based gear shift schedule design is introduced. This guarantees that the propulsion requirements are delivered while minimizing fuel consumption. The resulting dynamics is proven to be stable in the presence of constraints. We apply our framework to heavy-duty vehicle gear shift schedule design and evaluate the performance of the controller using numerical simulations.