Fig 1.
BEV powertrain.
Fig 2.
Efficiency map of drive motor.
Table 1.
The parameters of drive motor.
Fig 3.
Merging task for style 1 and style 2.
(a) Pre-merging task. (b) Re-group platoon of merging task for style 1. (c) Re-group platoon of merging task for style 2.
Fig 4.
Spatiotemporal trajectory diagram.
(a) Style 1; (b) Style 2.
Table 2.
The parameters of the platoon.
Table 3.
Weights of the cost functions.
Fig 5.
(a) Style 1. (b) Style 2.
Fig 6.
(a) Style 1; (b) Style 2.
Fig 7.
(a) Style 1; (b) Style 2.
Fig 8.
(a) Style 1; (b) Style 2.
Fig 9.
Tracking error for style 1.
Fig 10.
(a)Tracking error between the ego and leader. (b) Tracking error between the ego and followers.
Fig 11.
Trajectories and the speed difference for style 2.
(a) between the ego and leader. (b) between the ego and predecessor-followers.
Fig 12.
SOC curves of the platoon members for style 1.
Fig 13.
SOC curves of the platoon members for style 2.
Fig 14.
Reduction coefficient of aerodynamic drag in desired distance.
Fig 15.
Aerodynamic drag in desired distance.
Fig 16.
Trapezoidal velocity profile for style 1.
(a) Spatiotemporal trajectory diagram. (b) Velocity. (c) Torque. (d) Acceleration.
Fig 17.
Trapezoidal velocity profile for style 2.
(a) Spatiotemporal trajectory diagram. (b) Velocity. (c) Torque. (d) Acceleration.