Abstract: This paper presents a hierarchical model predictive control method for intelligent connected hybrid electric vehicles (ICHEVs) platooning to improve the safety, fuel economy, and riding comfort. Firstly, a dynamic model is established to accurately characterize the multi-process coupling characteristics of ICHEVs platooning. Then, a hierarchical model predictive controller (HMPC) for ICHEVs platooning is established considering the nonlinear and discrete characteristics of ICHEVs platooning. The upper layer controller builds a robust prediction model based on feedback correction to eliminate model mismatch caused by parameter errors or vehicle dynamic characteristics changes and improve the accuracy and robustness of the prediction model so as to realize the multi-objective coordinated control of safety, economy, and comfort as well as the online optimization of the expected acceleration of ICHEVs platooning. The lower layer controller utilizes the multi-system dynamic coordination controller in the ICHEVs platooning to realize accurate and coordinated control of the two power sources of the engine and motor. Finally, the test results show that the proposed hierarchical MPC system can improve the tracking capability in the platooning and significantly improve fuel economy and riding comfort of ICHEVs

Key words: intelligent and connected hybrid electric vehicles, platooning , model predictive control, fuel economy, coordinated control