Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

Abstract Most researches focus on the regenerative braking system design in vehicle components control and torque distribution, few combine connected technologies into velocity planning. If intention is accessed by vehicle-to-everything communication, electric vehicles (EVs) could plan for recovering more kinetic energy. Therefore, this paper presents an energy-optimal strategy (EOBS) to improve energy efficiency of EVs with consideration shared intention. First, a double-layer scheme formulated. In upper-layer, problem formulated solved distance-based dynamic programming algorithm, which derive trajectory. lower-layer, nonlinear time-varying longitudinal dynamics transformed linear system, then efficient model predictive controller designed quadratic algorithm track original trajectory while ensuring comfort safety. Several simulations are conducted jointing MATLAB CarSim, results demonstrated proposed EOBS achieves prominent regeneration improvement than regular constant deceleration strategy. Finally, mechanism investigated based analysis deceleration, battery charging power, motor efficiency, be guide real-time control.