Economic Potential for Hybrid Electric Vehicles in Urban Signal-free Intersections with Decentralized MPC

Abstract

The development of electric and connected vehicles as well as automated driving technologies are key towards the smart city, providing convenient urban mobility and high energy economy performance. However, the global rise in electricity price provokes renewed interest on CAVs with hybrid electric powertrains rather than considering battery electric powertrains. This paper proposes a decentralized coordination strategy for a group of connected and autonomous vehicles (CAVs) with a series hybrid electric (sHEV) powertrain at urban signal-free intersections. The problem is formulated as a convex form with suitable relaxation and approximation of the powertrain model and solved by decentralized model predictive control (DMPC), which enables rapid search and a unique solution in real-time. Numerical examples validate the effectiveness of the proposed methods concerning physical and safety constraints. By utilizing the petrol fuel and battery charging prices over the last year, the performance of the proposed approach is evaluated against the optimal results produced by two benchmark solutions, conventional vehicles (CVs) and battery electric vehicles (BEVs). The comparison results demonstrate that the traveling cost of sHEVs approaches and, even under some circumstances, reaches the same level as for BEVs, which indicates the importance of hybridization, particularly under the current rising electricity price situation.