Indirect optimal control and dynamic programming are combined in a receding horizon controller to obtain an energy management strategy for hybrid vehicles. This combination permits the use of inaccurate predictions of the future, instead of requiring exact knowledge, and allows the use of mixed state-control constraints, like voltage constraints for batteries. The controller can run in real-time on commodity hardware and, using a prediction of the future based on geographic information only, obtains a fuel use within 0.2% of the optimal fuel use computed with the exact speed and power trajectory of the vehicle known in advance. All this for a planned distance of more than 500 [km].
Scheduling Latency of Midhaul-based Commodity Hardware C-RAN
