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Spatial–temporal transformer-based ecological car-following strategy for connected electric vehicles in dynamic environments

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  • Sun, Hao
  • Li, Shuang
  • Li, Bingbing
  • Chen, Mingyang
  • Zhang, Sunan
  • Zhuang, Weichao
  • Yin, Guodong
  • Chen, Boli

Abstract

This study proposes a learning-based ecological car-following strategy for connected and autonomous vehicles (CAVs). Leveraging advanced vehicle-to-vehicle and vehicle-to-infrastructure technologies, CAVs on roads can receive updated traffic flow information and predict the speed profile of the preceding vehicle using a macro–micro fused spatial–temporal transformer. To handle the discrepancies between the predicted and actual speeds of the preceding vehicle and achieve less conservative results, a robust learning-in-the-loop model predictive control algorithm has been developed. Furthermore, to enable real-time computation for practical applications, the system models are transformed from the time domain to the spatial domain, integrating a fictitious control input design for system convexification. Finally, a comprehensive assessment of the proposed strategy is conducted through numerical simulations and on-road vehicle experiments.

Suggested Citation

  • Sun, Hao & Li, Shuang & Li, Bingbing & Chen, Mingyang & Zhang, Sunan & Zhuang, Weichao & Yin, Guodong & Chen, Boli, 2025. "Spatial–temporal transformer-based ecological car-following strategy for connected electric vehicles in dynamic environments," Energy, Elsevier, vol. 317(C).
  • Handle: RePEc:eee:energy:v:317:y:2025:i:c:s0360544225003159
    DOI: 10.1016/j.energy.2025.134673
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    References listed on IDEAS

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    1. Zhang, Zhendong & He, Hongwen & Guo, Jinquan & Han, Ruoyan, 2020. "Velocity prediction and profile optimization based real-time energy management strategy for Plug-in hybrid electric buses," Applied Energy, Elsevier, vol. 280(C).
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    4. Pan, Chaofeng & Huang, Aibao & Wang, Jian & Chen, Liao & Liang, Jun & Zhou, Weiqi & Wang, Limei & Yang, Jufeng, 2022. "Energy-optimal adaptive cruise control strategy for electric vehicles based on model predictive control," Energy, Elsevier, vol. 241(C).
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