A Platoon Control Method Based on DMPC for Connected Energy-Saving Electric Vehicles

This article presents a distributed model predictive control (DMPC) algorithm with energy management for the electric vehicle platoon. In addition, a braking force distribution strategy is proposed for the following vehicles (FVs) in the platoon, and the optimal energy recovery braking force distribution is adopted within the limits permitted by braking regulations. The cost function of DMPC includes the following aspects: drive/brake power deviation, vehicle distance deviation, trajectory deviation, and energy consumption. Through the simulation analysis, it is demonstrated that the proposed algorithm has satisfactory speed and trajectory tracking performance, platoon stability, and driving comfort. Two platoon control methods [DMPC without energy management, proportion integration differentiation (PID)] and two single vehicle control methods (single vehicle with or without recovery braking) are designed to verify the proposed method. A semiphysical experimental platform is established to verify the authenticity, accuracy, and effectiveness of the model and the proposed control methods.