Bench test of minimum time autonomous driving for electric vehicle based on optimization of velocity profile considering energy constraint

Recently, Intelligent Transport Systems (ITS) technology have been intensively studied to solve environmental and energy problems by improving traffic flow. Along with the development of ITS and autonomous driving technologies, vehicle velocity control has to be considered for energy efficiency. In this paper, a minimum time autonomous driving (MTAD) system, which minimizes the traveling time considering energy constraint for an electric vehicle (EV), is proposed. The proposed method minimizes the traveling time by optimizing the velocity profile and front and rear driving-braking force distribution. The effectiveness of the proposed method is verified by simulations and bench tests.