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

<table class="table-group" id="tab14"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_center" colspan="5">Go-stop 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="13.8595pt" id="M279" style="vertical-align:-2.2681pt" version="1.1" viewbox="-0.0498162 -11.5914 33.0709 13.8595" width="33.0709pt" 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="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><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,-0.013,10.738,0)"><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,-0.0091,17.025,-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,-0.013,24.146,0)"><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><g transform="matrix(.013,0,0,-0.013,28.44,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></td><td class="align_center">4.4300</td><td class="align_center">5.4641</td><td class="align_center">4.3056</td><td class="align_center">4.5876</td></tr><tr><td class="align_left">Regenerative braking energy <svg height="13.8595pt" id="M280" style="vertical-align:-2.2681pt" version="1.1" viewbox="-0.0498162 -11.5914 33.0709 13.8595" width="33.0709pt" 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="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><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,-0.013,10.738,0)"><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,-0.0091,17.025,-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,-0.013,24.146,0)"><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><g transform="matrix(.013,0,0,-0.013,28.44,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></td><td class="align_center">1.1948</td><td class="align_center">1.4096</td><td class="align_center">0.7755</td><td class="align_center">1.2869</td></tr><tr><td class="align_left">Energy recovery efficiency (%)</td><td class="align_center">27.0</td><td class="align_center">25.8</td><td class="align_center">18.0</td><td class="align_center">28.1</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 go-stop condition.</div>

Journal of Advanced Transportation

tab14

Table 14

Table 14: A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles 