Multi-Intersection Ecological Cooperative Control of a Pure Electric Vehicle Platoon with Dual-Motor Dual-Axis Drive

Abstract

The advent of intelligent transportation system technology has expedited the advancement of eco-driving controls. Research on energy-saving cooperative control of intelligent connected vehicles in intelligent transportation environments is still in need of ongoing refinement. This article proposes a dual-level ecological driving control strategy for a pure electric vehicle platoon with dual-motor dual-axis drive in an urban multi-intersection environment. The upper-level design incorporates optimal platoon speed decision-making based on the nonlinear model predictive control algorithm. The multi-objective optimization function considers three scenarios: energy-optimal, time-optimal, and energy-time-optimal. It also takes into account platoon following control and passing efficiency, ensuring smooth passage through multi-intersections without interruptions. Built on the upper level’s optimal speed design, an energy management strategy is proposed for achieving optimal torque distribution of pure electric vehicles with front and rear independent drives. Finally, the upper and lower levels are jointly simulated in real-time. The results indicate that, compared to the energy-optimal mode, the average passage time decreased by 14.6% and 5.97% in the time-optimal and energy-time-optimal modes, respectively. Under average torque distribution, the time-optimal and energy-time-optimal modes increased the energy consumption of the vehicle platoon by 21.05% and 5.44%, respectively, compared to the energy-optimal mode. Under the optimal torque allocation strategy, the time-optimal and energy-time-optimal modes increased energy consumption by 15.31% and 6.11%, respectively, compared to the energy-optimal mode. In contrast to the average torque allocation strategy, the optimal torque allocation strategy for the dual-motor vehicles reduced energy consumption by 10.18%, 14.44%, and 9.61% in the energy-optimal mode, time-optimal mode and energy-time-optimal mode, respectively.