Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface

  • Jörgen AlbrektssonEmail author
  • Jan Åslund
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 921)


Utilising optimal control presents an opportunity to increase the fuel efficiency in an off-road transport mission conducted by an articulated hauler. A human machine interface (HMI) instructing the hauler operator to follow the fuel optimal vehicle speed trajectory has been developed and tested in real working conditions. The HMI implementation includes a Dynamic Programming based method to calculate the optimal vehicle speed and gear shift trajectories. Input to the optimisation algorithm is road related data such as distance, road inclination and rolling resistance. The road related data is estimated in a map module utilising an Extended Kalman Filter (EKF), a Rauch-Tung-Striebel smoother and a data fusion algorithm. Two test modes were compared: (1) The hauler operator tried to follow the optimal vehicle speed trajectory as presented in the HMI and (2) the operator was given a constant target speed to follow. The objective of the second test mode is to achieve an approximately equal cycle time as for the optimally controlled transport mission, hence, with similar productivity. A small fuel efficiency improvement was found when the human machine interface was used.


Off-road Construction equipment Human machine interface Optimal control Dynamic programming Kalman filters 



The authors acknowledge Volvo CE and FFI - Strategic Vehicle Research and Innovation, for sponsorship of this work.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Electrical EngineeringLinköping UniversityLinköpingSweden
  2. 2.Volvo Construction EquipmentEskilstunaSweden

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