Optimal speed planning and collision avoidance control for electric vehicles considering traffic lights

Abstract

<p indent=0mm>To reduce the energy consumption and avoid the risk of rear-end collisions for intelligent electric vehicles (EVs) during cruising under urban conditions, a hierarchical control system for energy saving and collision avoidance for EVs considering the information of traffic lights is proposed. The upper layer of the system plans the vehicle speed based on the aforementioned traffic information and a vehicle dynamic model and obtains the reference speed sequence with the minimum energy consumption through online rolling optimization; the bottom layer calculates the optimal acceleration of the vehicle in real-time along with the reference speed sequence and multiobjective function and performs collision avoidance control. Finally, the simulation model of the control system was built based on the Matlab/Simulink platform, and the effectiveness of the proposed control system was verified based on conditions of the presence and absence of human-driven vehicles in front of the EV. The upper layer can realize the optimal reference speed in vehicle speed planning according to the change in road traffic information and improve the energy consumption characteristics of the EV; the collision avoidance control by the lower layer can calculate the optimal acceleration control input by combining the optimal reference speed and the multiobjective function evaluation results. Thus, it is clear that the designed system can ensure energy-efficient, safe, and stable driving of EVs.