Energy Efficient Nonlinear Microscopic Dynamical Model for Autonomous and Electric Vehicles

TL;DR

This paper introduces a nonlinear microscopic dynamical model for autonomous electric vehicles that optimizes energy efficiency by integrating battery dynamics into car-following behavior, validated through simulations and stability analysis.

Contribution

It presents a novel energy-efficient model for autonomous electric vehicles based on the OVM, incorporating battery dynamics for thermally optimal driving.

Findings

The model achieves lower energy consumption than existing follow-the-leader models.

Numerical simulations confirm the analytical energy efficiency improvements.

Stability analysis demonstrates robust vehicle behavior under the new model.

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.