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.

15 pages, 4 figures, 1 table, This paper has been accepted for presentation at the 2025 IEEE Conference on Decision and Control (CDC). The final version will later appear in IEEE Xplore