Nonlinear model-predictive driving control of ICE vehicles equipped with CVTs via relaxation of switching behaviours

In this study, a design method of driving controller based on nonlinear model predictive control (NMPC) is presented for internal-combustion-engine (ICE) vehicles equipped with continuously variable transmissions (CVTs). The clutch-engaged and -released modes and engine-on and -off modes are considered, along with the engine-braking effect. The switching characteristics of the vehicle system dynamics are relaxed into continuous transitions. This allows for the use of standard NMPC software packages to solve the NMPC problem. Numerical examples indicate that the designed controller is capable of achieving real-time driving control based on NMPC.