No abstract

To improve the energy efficiency of electric vehicles (EVs), this paper presents an energy-optimal braking strategy (EOBS) considering shared braking intention. First, a double-layer control scheme is formulated. In the upper-layer, an energy-optimal braking problem with braking intention is formulated and solved by distance-based dynamic programming, which could derive the energy-optimal braking trajectory. In the lower-layer, a linear time-varying model predictive (LTV-MPC) controller is designed to track the desired trajectory while ensuring braking comfort and safety. Second, several simulations are conducted to demonstrate the regeneration energy efficiency improvement of proposed EOBS. Finally, the energy-optimal braking mechanism of EVs is investigated based on the analysis of braking deceleration, battery charging power, and motor efficiency.