Co-optimization method of speed planning and energy management for fuel cell vehicles through signalized intersections

Network of vehicles technology can help vehicles obtain more traffic information during their journey. In this paper, a co-optimization method of speed planning and energy management is proposed for fuel cell vehicles (FCVs) while passing through multiple continuous signalized intersections. Based on the off-line dynamic programming (DP) algorithm and the signal phase and timing (SPaT), the constant-speed hydrogen consumption map and the weighted orientation graph of the FCV are established. Afterwards, a bi-level DP method is introduced to solve the speed planning problem online. In the meantime, a modified alternating direction method of multipliers (ADMM) algorithm, which includes a cyclic constraint inspection strategy to constrain the power change rate of fuel cell system (FCS), is used to solve the energy management problem. The simulation results demonstrate that the proposed method can generate an optimal speed reference trajectories for FCV through 4 and 8 signalized intersections in 3 s and 5 s respectively, which is practically implementable on real vehicles. Simulation results show that our proposed method is able to achieve similar fuel saving performance with off-line DP but a in real time framework, which is over 20% better than the improved intelligent driving model (IDM) with ADMM.