• MMPEVEM
MMPEVEM

Overview#

Since version 1.11.0, SUMO comes with an energy consumption model for electric vehicles (EVs) developed by the Teaching and Research Area Mechatronics in Mobile Propulsion (MMP) of RWTH Aachen University. MMPEVEM (MMP's Electric Vehicle Emission Model), as it is called, is implemented as a SUMO emission model (hence the name) and considers the components of the powertrain individually in order to accurately compute the power consumption in every simulation step. This includes the transmission (i.e. a single reduction gear and a differential) with constant efficiency, the electric motor (as well as its inverter) whose power losses are read/interpolated from a characteristic map, a constant power consumer to represent auxiliary devices such as air conditioning, and the battery.

Using the Model#

To utilise MMPEVEM, set emissionClass="MMPEVEM" in the vType definitions of the vehicles you are interested in and add the following parameter:

<param key="has.battery.device" value="true"/>

Equipping the vType with a battery device is necessary because it triggers the parsing and loading of all energy-related quantities. Other than that, there is currently no interaction between MMPEVEM and said device. This especially entails that the battery's state and output are not affected by or based on the former.

Although default parameters are available, it is strongly advised to explicitly specify all the model parameters listed below and to make sure that they are compatible with one another. Failing to do so may lead to wrong or even invalid operating points (cf. Output) which skew the overall energy consumption.

Model Parameters#

MMPEVEM shares a lot of SUMO's native electric vehicle parameters and introduces only a couple of new ones. You can find exemplary vehicle type definitions at {SUMO_HOME}/data/emissions/MMPEVEM1.

Key Value Type Default Description
vehicleMass float (> 0) 1000.0 [kg] Mass of the vehicle
wheelRadius float (> 0) 0.3588 [m] Wheel radius
internalMomentOfInertia float (>= 0) 0.01 [kg * m^2] Internal components' moment of inertia
rollDragCoefficient float (>= 0) 0.01 [1] Rolling resistance coefficient
airDragCoefficient float (>= 0) 0.6 [1] Air drag coefficient
frontSurfaceArea float (>= 0) 5.0 [m^2] Cross-sectional area of the front of the vehicle
gearRatio float (> 0) 10.0 [1] Combined ratio of the single reduction gear and the differential
gearEfficiency float (> 0) 0.96 [1] Combined efficiency of the single reduction gear and the differential
maximumTorque float (>= 0) 310.0 [Nm] Maximum generative torque of the electric motor
maximumPower float (>= 0) 107000.0 [W] Maximum generative power of the electric motor
maximumRecuperationTorque float (>= 0) 95.5 [Nm] Maximum recuperation torque of the electric motor
maximumRecuperationPower float (>= 0) 42800.0 [W] Maximum recuperation power of the electric motor
internalBatteryResistance float (> 0) 0.1142 [Ohm] Internal battery resistance
nominalBatteryVoltage float (>= 0) 396.0 [V] Nominal battery voltage
constantPowerIntake float 100.0 [W] Constant power consumption of auxiliary devices
powerLossMap string 2,1\|-1e9,1e9;-1e9,1e9\|0,0,0,02 String representation of the electric motor's power loss map

Power Loss Map#

The power loss map describes the electric motor's power loss (in W) as a function of motor speed (in rpm) and torque (in Nm). It is passed to the model using a custom string format which shall be explicated using the mock power loss map below.

0 rpm 4000 rpm 8000 rpm
-100 Nm 826.7 W 4295.6 W
0 Nm 0.0 W 2162.9 W 6137.4 W
100 Nm 826.7 W 4295.6 W 9317.5 W
200 Nm 3297.4 W 8361.2 W 14988.6 W

Its string representation is:

2,1|0,4000,8000;-100,0,100,200|826.7,4295.6,nan,0.0,2162.9,6137.4,826.7,4295.6,9317.5,3297.4,8361.2,14988.6

The string consists of three parts delimited by the | character: - The first part signifies that it maps from ℝ² to ℝ¹ and does not change for MMPEVEM's power loss maps. - The middle section contains the axis values in ascending order. Axes are separated by semi-colons while commas are used to delimit the values of each axis. - The final part contains the row-major flattened entries of the map (i.e. the first row of the table followed by the second row etc.) separated by commas. Undefined operating points (e.g. (8000 rpm, -100 Nm) in this example) are passed as nan.

Tools#

For permanent magnet synchronous machines (PMSMs), power loss maps can be generated with the Electric Machine Design Tool developed by Kalt et al.3 and converted into the expected format using {SUMO_HOME}/tools/contributed/convertMapMat2XML.M. The tool and the conversion script require MATLAB® 2017 or newer.

Example#

This is an example vType definition of a generic electric SUV and was taken from {SUMO_HOME}/data/emissions/MMPEVEM/SUV.xml.

<vType id="SUV" vClass="passenger" emissionClass="MMPEVEM" actionStepLength="1.0">
  <param key="has.battery.device" value="true"/>
  <param key="vehicleMass" value="2100"/>
  <param key="wheelRadius" value="0.3835"/>
  <param key="internalMomentOfInertia" value="16"/>
  <param key="rollDragCoefficient" value="0.01"/>
  <param key="airDragCoefficient" value="0.29"/>
  <param key="frontSurfaceArea" value="3.23"/>
  <param key="gearRatio" value="9.325"/>
  <param key="gearEfficiency" value="0.96"/>
  <param key="maximumTorque" value="380"/>
  <param key="maximumPower" value="180000"/>
  <param key="maximumRecuperationTorque" value="180"/>
  <param key="maximumRecuperationPower" value="105000"/>
  <param key="internalBatteryResistance" value="0.1575"/>
  <param key="nominalBatteryVoltage" value="405"/>
  <param key="constantPowerIntake" value="360"/>
  <param key="powerLossMap" value="2,1|0,413.7931,827.5862,1241.3793,1655.1724,2068.9655,2482.7586,2896.5517,3310.3448,3724.1379,4137.931,4551.7241,4965.5172,5379.3103,5793.1034,6206.8966,6620.6897,7034.4828,7448.2759,7862.069,8275.8621,8689.6552,9103.4483,9517.2414,9931.0345,10344.8276,10758.6207,11172.4138,11586.2069,12000;-192.8157,-176.7477,-160.6797,-144.6118,-128.5438,-112.4758,-96.4078,-80.3399,-64.2719,-48.2039,-32.1359,-16.068,0,16.068,32.1359,48.2039,64.2719,80.3399,96.4078,112.4758,128.5438,144.6118,160.6797,176.7477,192.8157,208.8836,224.9516,241.0196,257.0876,273.1555,289.2235,305.2915,321.3594,337.4274,353.4954,369.5634,385.6313|3059.92,3292.2,3684.4,4125.3,4607.96,5128.38,5683.86,6272.42,6892.5,7542.89,8222.55,8930.61,9666.35,10429.1,10310.8,11089.67,10785.82,10390.27,10810.04,10481.93,10979.63,11522.42,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,2571.18,2794.54,3160.93,3574.57,4028.8,4519.78,5044.9,5602.28,6190.42,6808.15,7454.48,8128.58,8829.74,9557.33,10310.8,11089.67,10785.82,10390.27,10810.04,10481.93,10979.63,11522.42,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,2124.95,2338.35,2679.36,3066.29,3492.74,3955.01,4450.61,4977.7,5534.87,6120.96,6735.04,7376.31,8044.08,8737.75,9456.79,10200.74,10785.82,10390.27,10810.04,10481.93,10979.63,11522.42,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,1721.21,1923.61,2239.66,2600.44,2999.77,3434.09,3900.98,4398.68,4925.83,5481.31,6064.23,6673.8,7309.37,7970.36,8656.27,9366.63,10064.34,10390.27,10810.04,10481.93,10979.63,11522.42,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,1359.97,1550.33,1841.86,2177.04,2549.9,2957,3396.01,3865.22,4363.31,4889.2,5442.04,6021.05,6625.62,7255.17,7909.23,8587.34,9289.11,9670.59,10040.46,10481.93,10979.63,11522.42,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,1041.22,1218.5,1485.94,1796.07,2143.13,2523.76,2935.71,3377.32,3847.31,4344.64,4868.47,5418.07,5992.82,6592.18,7215.67,7862.87,8533.39,9003.21,9328.15,9724.18,10175.82,10671.82,11203.92,11766.01,12353.56,12963.17,12593.66,13195.25,13812.23,14443.49,764.98,928.14,1171.9,1457.55,1779.45,2134.36,2520.07,2934.97,3377.82,3847.62,4343.53,4864.85,5410.97,5981.38,6575.6,7193.22,7833.87,8384.9,8669.14,9024.21,9434.59,9888.97,10379.02,10898.58,11443.04,12008.93,12593.66,13195.25,13812.23,14443.49,531.24,679.23,899.76,1161.47,1458.87,1788.79,2149.09,2538.18,2954.86,3398.14,3867.21,4361.39,4880.08,5422.77,5989,6578.39,7190.55,7813.13,8060.28,8378.21,8751.34,9168.33,9620.81,10102.57,10608.98,11136.54,11682.6,12245.16,12822.71,13414.09,339.99,471.78,669.49,907.82,1181.39,1487.07,1822.77,2186.96,2578.42,2996.21,3439.52,3907.69,4400.14,4916.35,5455.9,6018.38,6603.43,7210.74,7499.12,7783.23,8122.55,8505.71,8924.32,9372.16,9844.56,10337.99,10849.81,11377.99,11920.98,12477.63,191.25,305.79,481.12,696.62,947,1229.19,1541.13,1881.29,2248.5,2641.82,3060.46,3503.76,3971.15,4462.13,4976.27,5513.19,6072.52,6653.95,6983.77,7237,7545.53,7897.97,8285.9,8703.07,9144.81,9607.58,10088.72,10586.18,11098.42,11624.26,85,181.26,334.63,527.86,755.71,1015.15,1304.14,1621.18,1965.1,2334.97,2730.02,3149.58,3593.11,4060.1,4550.14,5062.82,5597.81,6154.78,6512.75,6737.81,7018.29,7342.77,7702.83,8092.19,8506.18,8941.24,9394.7,9864.51,10349.11,10847.33,21.25,98.19,230.02,401.53,607.51,844.95,1111.82,1406.62,1728.22,2075.66,2448.2,2845.17,3266.03,3710.27,4177.48,4667.27,5179.3,5713.25,6085.03,6284.42,6539.38,6838.46,7173.21,7537.36,7926.2,8336.18,8764.61,9209.44,9669.11,10142.42,0,58.32,172.48,327.47,517.95,740.81,993.98,1275.91,1585.42,1921.55,2283.51,2670.64,3082.37,3518.18,3977.64,4460.35,4965.97,5494.17,5876.18,6057.77,6296.78,6581.41,6902.92,7254.84,7632.29,8031.6,8450,8885.36,9336.06,9800.88,21.25,98.19,230.02,401.53,607.51,844.95,1111.82,1406.62,1728.22,2075.66,2448.2,2845.17,3266.03,3710.27,4177.48,4667.27,5179.3,5713.25,6085.03,6284.42,6539.38,6838.46,7173.21,7537.36,7926.2,8336.18,8764.61,9209.44,9669.11,10142.42,85,181.26,334.63,527.86,755.71,1015.15,1304.14,1621.18,1965.1,2334.97,2730.02,3149.58,3593.11,4060.1,4550.14,5062.82,5597.81,6154.78,6512.75,6737.81,7018.29,7342.77,7702.83,8092.19,8506.18,8941.24,9394.7,9864.51,10349.11,10847.33,191.25,305.79,481.12,696.62,947,1229.19,1541.13,1881.29,2248.5,2641.82,3060.46,3503.76,3971.15,4462.13,4976.27,5513.19,6072.52,6653.95,6983.77,7237,7545.53,7897.97,8285.9,8703.07,9144.81,9607.58,10088.72,10586.18,11098.42,11624.26,339.99,471.78,669.49,907.82,1181.39,1487.07,1822.77,2186.96,2578.42,2996.21,3439.52,3907.69,4400.14,4916.35,5455.9,6018.38,6603.43,7210.74,7499.12,7783.23,8122.55,8505.71,8924.32,9372.16,9844.56,10337.99,10849.81,11377.99,11920.98,12477.63,531.24,679.23,899.76,1161.47,1458.87,1788.79,2149.09,2538.18,2954.86,3398.14,3867.21,4361.39,4880.08,5422.77,5989,6578.39,7190.55,7813.13,8060.28,8378.21,8751.34,9168.33,9620.81,10102.57,10608.98,11136.54,11682.6,12245.16,12822.71,13414.09,764.98,928.14,1171.9,1457.55,1779.45,2134.36,2520.07,2934.97,3377.82,3847.62,4343.53,4864.85,5410.97,5981.38,6575.6,7193.22,7833.87,8384.9,8669.14,9024.21,9434.59,9888.97,10379.02,10898.58,11443.04,12008.93,12593.66,13195.25,13812.23,14443.49,1041.22,1218.5,1485.94,1796.07,2143.13,2523.76,2935.71,3377.32,3847.31,4344.64,4868.47,5418.07,5992.82,6592.18,7215.67,7862.87,8533.39,9003.21,9328.15,9724.18,10175.82,10671.82,11203.92,11766.01,12353.56,12963.17,13592.32,14239.12,14902.19,15580.51,1359.97,1550.33,1841.86,2177.04,2549.9,2957,3396.01,3865.22,4363.31,4889.2,5442.04,6021.05,6625.62,7255.17,7909.23,8587.34,9289.11,9670.59,10040.46,10481.93,10979.63,11522.42,12102.14,12712.82,13350.05,14010.59,14692.09,15392.85,16111.74,16848.03,1721.21,1923.61,2239.66,2600.44,2999.77,3434.09,3900.98,4398.68,4925.83,5481.31,6064.23,6673.8,7309.37,7970.36,8656.27,9366.63,10064.34,10390.27,10810.04,11302.37,11852.06,12448.17,13082.76,13750.09,14446.05,15167.75,15913.26,16681.4,17471.69,18284.23,2124.95,2338.35,2679.36,3066.29,3492.74,3955.01,4450.61,4977.7,5534.87,6120.96,6735.04,7376.31,8044.08,8737.75,9456.79,10200.74,10785.82,11166.28,11641.97,12191.89,12801.15,13459.15,14158.41,14893.73,15661.64,16460.13,17288.37,18146.71,19036.72,18284.23,2571.18,2794.54,3160.93,3574.57,4028.8,4519.78,5044.9,5602.28,6190.42,6808.15,7454.48,8128.58,8829.74,9557.33,10310.8,11089.67,11562.13,12003.73,12542.85,13158.98,13837.82,14569.51,15347.47,16167.76,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,3059.92,3292.2,3684.4,4125.3,4607.96,5128.38,5683.86,6272.42,6892.5,7542.89,8222.55,8930.61,9666.35,10429.1,11218.29,12017.36,12398.26,12909.18,13521.37,14215.18,14977.47,15799.94,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,3591.16,3831.31,4249.75,4718.46,5230.21,5780.83,6367.49,6988.11,7641.1,8325.17,9039.24,9782.41,10553.91,11353.06,12179.27,12844.59,13300.53,13891.26,14589.29,15376.72,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,4164.89,4411.88,4856.98,5354.06,5895.56,6477.12,7095.77,7749.36,8436.22,9154.99,9904.55,10683.97,11492.43,12329.22,13193.73,13735.1,14277.15,14961.52,15763.13,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,4781.13,5033.91,5506.1,6032.11,6604.01,7217.24,7868.72,8556.18,9277.86,10032.35,10818.49,11635.29,12481.9,13357.58,14244.44,14696.41,15339.05,16136.09,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,5439.86,5697.4,6197.11,6752.59,7355.56,8001.21,8686.33,9408.55,10166.02,10957.26,11781.06,12636.37,13522.32,14438.12,15180.17,15738.39,16501.23,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,6141.09,6402.34,6930,7515.52,8150.2,8829.02,9548.61,10306.48,11100.69,11929.71,12792.25,13687.22,14613.7,15570.87,16190.45,16874.33,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,6884.82,7148.74,7704.78,8320.88,8987.93,9700.67,10455.55,11249.96,12081.89,12949.7,13852.06,14787.83,15756.02,16747.9,17286.49,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,7671.05,7936.6,8521.45,9168.69,9868.76,10616.16,11407.15,12239.01,13109.61,14017.24,14960.5,15938.2,16949.3,17791.47,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,8499.78,8765.92,9380,10058.93,10792.69,11575.49,12403.42,13273.61,14183.84,15132.32,16117.57,17138.33,18193.54,18923.23,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,9371.01,9636.7,10280.44,10991.61,11759.72,12578.66,13444.35,14353.78,15304.6,16294.94,17323.25,18388.23,19488.72,18923.23,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,10284.74,10548.93,11222.76,11966.74,12769.84,13625.68,14529.95,15479.5,16471.87,17505.11,18577.57,19687.88,20674.02,18923.23,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,11240.96,11502.63,12206.97,12984.3,13823.05,14716.53,15660.21,16650.78,17685.67,18762.81,19880.51,21037.3,20674.02,18923.23,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23,12239.69,12497.78,13233.06,14044.31,14919.37,15851.22,16835.13,17867.61,18945.98,20068.07,21232.07,22436.48,20674.02,18923.23,18483.6,18122.91,17785.24,17438.49,17067.26,16667.61,16242.8,17182.8,16678.16,17611.3,17028.57,17930.23,17288.37,18146.71,19036.72,18284.23"/>
</vType>

Output#

Start SUMO with the --emission-output option in order to generate an XML file with the emissions of all vehicles. In the XML, the attribute electricity shows the electric energy consumption (in Wh) of a vehicle in a given time step. Please note that this value is only provided by MMPEVEM if and only if the vtype definition of the vehicle in question was set accordingly.

MMPEVEM is a backward-facing model, meaning that it expects a velocity, acceleration, slope, and time step size to calculate the energy demand. This also means that it has no way to stop the vehicle from running into invalid operating points. The latter can be caused by implausible accelerations (for instance due to teleportations), wrong vehicle parameters, etc. If the model finds itself in such a state, it returns nan. On a related note, MMPEVEM assumes that the driver perfectly operates the mechanical brakes such that torque and power are clipped to the motor's limits during recuperation.

Publications#

  1. For the sake of compatibility, the XMLs in {SUMO_HOME}/data/emissions/MMPEVEM contain all native electric vehicle parameters. ↩

  2. All operating points result in a power loss of 0 W in the default map. ↩

  3. S. Kalt, J. Erhard, B. Danquah and M. Lienkamp, "Electric Machine Design Tool for Permanent Magnet Synchronous Machines," 2019 Fourteenth International Conference on Ecological Vehicles and Renewable Energies (EVER), 2019, pp. 1-7, doi: 10.1109/EVER.2019.8813601 ↩