Making full use of front road grade information to achieve the best fuel efficiency is\nimportant for intelligent vehicles. Normal theoretical studies pay too much attention to engine\ncontinuous feedback control. The theoretical foundation of switching between traction and brake\ncontrol has been ignored. In mountainous terrain, both the engine and road slopes are energy sources.\nSwitching between traction and brake control is the key point. This research focuses on broadening\nthe normal control range. The comprehensive objective function that contains traction and brake\ncontrol is built, and then the analytical switching control law is derived based on Pontryaginâ??s\nmaximum principle (PMP). Analytical switching control laws express the mechanism of switching\nbetween traction and brake control for economic cruise control (ECC). Simulation results show that\nthe model can solve the switch time and the entire speed profile precisely. Brake control is very\nimportant in downhill situations. The parameters in the objective function influence not only the\nswitch time but also the switch process. This research offers a theoretical foundation for ECC with\nroad slopes and can make onboard control more precise and efficient.
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