Energy Efficient Nonlinear Microscopic Dynamical Model for Autonomous and Electric Vehicles

Abstract

This article proposes a nonlinear microscopic dynamical model for autonomous electric vehicles (A-EVs) that considers battery energy efficiency in the car-following dynamics. The model builds upon the Optimal Velocity Model (OVM), with the control term based on the battery dynamics to enable thermally optimal and energy-efficient driving. We rigorously prove that the proposed model achieves lower energy consumption compared to the Optimal Velocity Follow-the-Leader (OVFL) model. Through numerical simulations, we validate the analytical results on the energy efficiency. We additionally investigate the stability properties of the proposed model.

Figures (4)

• Figure 1: Trajectory of the proposed dynamics. The initial condition is shown as a red dot, while the equilibrium is shown as a magenta x mark. Parameters: $\alpha$ = 2, $\beta$ = 3, $\kappa$ = 0.03, $x$ = 0, Simulation Time = 700, $a_l$ = 0
• Figure 2: Comparison between the trajectory of OVFL and the proposed dynamics. The initial condition is shown as a red dot, while the equilibrium is shown as a magenta x mark. Parameters: $\alpha$ =2, $\beta$ = 3, $\kappa$ = 0.03, $x$ = 0, Simulation Time = 700, $a_l$ = 0
• Figure 3: $a_l$ and $v_l$ in the scenario for the nonlinear stability analysis
• Figure 4: Spacing and Relative Velocity between vehicles in the platoon under the proposed model for the numerical simulation in Section \ref{['sec: numerical_simulation']}. Gray Dashed lines are the equilibrium spacing and relative velocity based on $v_l$ at $t = 20$.

Theorems & Definitions (5)

• Proposition 3.1: Optimal Current for Minimizing Power Loss
• proof
• Remark 3.2: Battery Discharge Rate Benefit
• Theorem 4.1: Energy Efficiency
• proof