A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles

<table class="table-group" id="tab12"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_center" colspan="5">Following condition</td></tr><tr class="thead"><td class="align_left"></td><td class="align_center">MPC_Quadprog</td><td class="align_center">Incremental PID</td><td class="align_center">Switch</td><td class="align_center">MPC_SDNN</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Total braking energy/(<svg height="13.8204pt" id="M274" style="vertical-align:-2.229pt" version="1.1" viewbox="-0.0498162 -11.5914 24.0411 13.8204" width="24.0411pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.527,-5.741)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g><g transform="matrix(.013,0,0,-0.013,19.648,0)"><path d="M303 650H44V622C125 616 133 609 133 525V185C133 100 131 42 123 -6C112 -63 83 -109 27 -136L39 -165C65 -157 98 -138 132 -107C198 -46 218 23 218 152V525C218 609 226 616 303 622V650Z"></path></g></svg><i>)</i></td><td class="align_center">5.7126</td><td class="align_center">7.2134</td><td class="align_center">5.2961</td><td class="align_center">5.5202</td></tr><tr><td class="align_left">Regenerative braking energy/(<svg height="13.8204pt" id="M275" style="vertical-align:-2.229pt" version="1.1" viewbox="-0.0498162 -11.5914 24.0411 13.8204" width="24.0411pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.527,-5.741)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g><g transform="matrix(.013,0,0,-0.013,19.648,0)"><path d="M303 650H44V622C125 616 133 609 133 525V185C133 100 131 42 123 -6C112 -63 83 -109 27 -136L39 -165C65 -157 98 -138 132 -107C198 -46 218 23 218 152V525C218 609 226 616 303 622V650Z"></path></g></svg><i>)</i></td><td class="align_center">1.4653</td><td class="align_center">1.5816</td><td class="align_center">1.0810</td><td class="align_center">1.4921</td></tr><tr><td class="align_left">Energy recovery efficiency (%)</td><td class="align_center">25.6</td><td class="align_center">21.9</td><td class="align_center">20.4</td><td class="align_center">27.0</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Performance of energy recovery in braking in the following condition.</div>

Journal of Advanced Transportation

tab12

Table 12

Table 12: A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles 