Safe and Energy-Saving Vehicle-Following Driving Decision-Making Framework of Autonomous Vehicles
Journal article, 2022

The safety and energy efficiency of autonomous vehicles in the vehicle-following driving scenario is seriously affected by the decision-making framework. This paper proposes a safe and energy-saving decision-making framework for autonomous vehicles to avoid the potential rear-end collision and improve the energy efficiency in vehicle-following driving scenario. To realize this framework, the vehicle longitudinal dynamics model is first presented, and the autonomous vehicles requirements from the safety and energy efficiency perspectives are comprehensively analyzed in the vehicle-following driving scenario. Then, a two-stage decision-making framework is designed. The first stage determines the safety region in the powertrain control domain, and the second stage determines the optimal energy efficiency in the safety region. Based on the two-stage decision-making framework, the perspective of safety first principle can be enforced by simultaneously considering the driving safety and energy efficiency. Finally, the experiment is conducted to demon-strate the advantages of the proposed method by com-paring it with two other state-of-art methods.

energy optimization

Mechanical power transmission

Autonomous vehicles

driving safety


intelligent transportation system

Energy efficiency


Autonomous vehicles

Decision making

vehicle-following driving

Vehicle dynamics



Ying Zhang

Northwestern Polytechnical University

Tao You

Northwestern Polytechnical University

Jinchao Chen

Northwestern Polytechnical University

Chenglie Du

Northwestern Polytechnical University

Zhaoyang Ai

Hunan University

Xiaobo Qu

Chalmers, Architecture and Civil Engineering, Geology and Geotechnics

IEEE Transactions on Industrial Electronics

0278-0046 (ISSN) 15579948 (eISSN)

Vol. 69 12 13859 -13871

Subject Categories

Vehicle Engineering

Other Civil Engineering

Energy Systems



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Latest update

8/8/2022 1