Cooperative Adaptive Cruise Control Strategy Optimization for Electric Vehicles Based on SA-PSO with Model Predictive Control

Abstract

The Cooperative Adaptive Cruise Control (CACC) is considered to be an effective method to improve traffic flow. However, the comfortability and economy need to be paid more attention to besides stability and safety. In this paper, a CACC strategy is proposed for an electric vehicle platoon to improve the economy, following performance, safety, and comfortability characteristics, based on the model predictive control (MPC) with simulated annealing-particle swarm optimization (SA-PSO) algorithm. Firstly, the braking force distribution strategy of electric vehicles is designed to improve the efficiency of regenerative braking. Secondly, based on the variable vehicle spacing with fixed time headway, a vehicle platoon following strategy is established to meet the following performance and safety. Thirdly, an MPC controller is used to control the states of the vehicles in the platoon to satisfy the performance. A multi-objective function of the MPC controller is established, including the economy, following performance, comfortability, and safety of the vehicles in the platoon. The SA-PSO algorithm effectively solves the problem of the discrete variables in the objective function. Simulations are conducted to validate the sufficient conditions of the economy, following performance, comfortability, and safety. Simulation results demonstrate that the economic efficiency of the CACC strategy with the economic index is 16.5% higher than that of the existing ACC strategy. Meanwhile, the other characteristics can also meet the control requirement.