2

Problem Formulation

Suppose a car is traveling between two points A and B. It starts from still at
point A and reaches point B via level road(grade of this route is zero). Total
traveled time T is bounded by Tmax , final time T may or may not be free. Also
final velocity vfinal may or may not be zero. The problem is to find a minimiser
a(t) to the following integral objective function J(the integrand is model of fuel
consumption rate) over all possible time instant ts and corresponding velocity
v(t)s:

ZT 
M
v(t) a2 (t) p q dt
+ 1 v(t) RT (t) q + 2
06t6T
1000

J = min

where,
RT (t) = b1 + b2 v 2 (t) +

M
a(t)
1000

(
1 if a(t) > 0
p = sgn (a(t)) :=
0 other
(
1 if RT (t) > 0
q = sgn+ (RT (t)) :=
0 other
+

2 m/s2 6 a(t) 6 4 m/s2

0 m/s 6 v(t) 6 15 m/s
v(t) and corresponding traveled distance s(t) are satisfying the dynamics:
(
s(t)
= v(t); s(0) = 0, s(T ) = D
v(t)

= a(t); v(0) = 0
where D is covered distance at final time T and all other constants are as follows,
Note: all constants are only for reference

Reference of Constants

0.444

1
0.09

2
0.04

b1
0.333

b2
0.00108

M
1200

Table 1: All constants in fuel consumption rate model