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In recent years, reducing emissions in Freight-Transport has become a top priority in mobility. This paper presents the methodology for the full control loop of a truck’s powertrain, which has been transformed from a polluting GLP powered ICE to a zero-emission Hydrogen-powered electric powertrain within the SHINE-Fleet project. The adaptation has provided the ECU with increased flexibility to control the dynamics, enabling automated-driven missions like docking. The paper covers infrastructure-based localization for the vehicle, path planning to reach the setpoint, and control implementation with a Model Predictive Controller (MPC).

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SHINE-Fleet: Spanish Initiative for Sustainable Freight Transport Taking Advantage from Hydrogen and Automated Driving

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Iker Pacho,
  • Alberto Justo,
  • Jesús Murgoitio,
  • Juan Carlos de Pablo,
  • Angel Martín,
  • Joan Albesa,
  • Ruben Rodríguez

摘要

In recent years, reducing emissions in Freight-Transport has become a top priority in mobility. This paper presents the methodology for the full control loop of a truck’s powertrain, which has been transformed from a polluting GLP powered ICE to a zero-emission Hydrogen-powered electric powertrain within the SHINE-Fleet project. The adaptation has provided the ECU with increased flexibility to control the dynamics, enabling automated-driven missions like docking. The paper covers infrastructure-based localization for the vehicle, path planning to reach the setpoint, and control implementation with a Model Predictive Controller (MPC).