An approach for automated driving in highway scenarios based on Super-Twisting (STW) Sliding Mode Control (SMC) methodologies supported by the use of Artificial Potential Fields (APF) is presented. The use of APF allows us to propose an effective SMC solution based on the gradient tracking (GT) principle. In this regard, a novel formulation of the APF functions is introduced that exploits a sequence of attractive quadratic functions. This solution simplifies the computation of the fields and allows for trajectory generation with improved regularity properties. Extensive simulation tests, as well as comparisons with baseline and state of the art solutions, show the effectiveness of the proposed approach.

This paper presents the design of an energy management control system to improve powertrain efficiency and optimize the amount of fuel used by a hybrid fuel cell vehicle in a route-based scenario. To reach this goal, a complete tank-to-wheel model is developed under the assumption of a known scenario, the speed profile that best minimizes the energy required to complete the test is computed, and a controller able to handle the power request is designed. In particular, a Model Predictive Control architecture is used to split the power request between the primary and the secondary power source (fuel cell and supercapacitors). The effectiveness of the proposed approach is assessed through extensive simulation tests using a realistic model.

In this paper, we design an energy management control system to improve powertrain efficiency and optimize the amount of fuel used in a route-based scenario by a hybrid fuel cell vehicle. To reach this goal a complete tank-to-wheel model is developed; under the assumption of a known scenario the speed profile that minimizes the required energy to complete the test is computed and a controller able to handle the power request is designed. In particular, a Model Predictive Control architecture is used to split the power request between the primary and the secondary power source (fuel cell and supercapacitor). To develop and test the proposed energy management control system, the hydrogen prototype IDRAkronos is used. The vehicle is designed and built by the Team H 2 politO of the Politecnico di Torino to join the Shell Eco-Marathon competition.