“…GA [141], [122], [142], [143], [144], [150] [145], [146], [147], [148], [149], Has strong capability of global search Has a strong universality Has weak capability of local search. MOGA [72], [151], [152], [153], [154], [155], [156], PSO [157], [158], [159], [160], [161] [162], [163], [164], [165], [166], [167] Easy to understand and implement Has a stronger capability of local search compared to GA. A-ECMS [175], [176], [177] P-ECMS [178], [179], [180], [181][182], [183] MPC D-MPC [184], [185], [186] Nearest Solutions to global optimum point Preview driving pattern, as well as terrain and prospective driving data Prediction the horizon sensitivity A-MPC [187], [188], [189], [190], [191] T-MPC [192], …”