Differentiated Speed Planning for Connected and Automated Electric Vehicles at Signalized Intersections considering Dynamic Wireless Power Transfer

Algorithm 1

IDM parameter calibration algorithm based on GA.

1 Step 1. Data preprocessing

2 Remove exception data and out-of-bound data from the original data.

3 Select continuous four state vectors for FVs: speed, space difference, speed difference, and acceleration.

4 Unit conversion, such as ft, ft/s to m, and m/s.

5 Step 2. Initialization

6 Randomly generate the initial values for five calibrated parameters within the bound, , , , , and .

7 Initialize GA basic parameters, such as maximum iteration, population size, and crossfactor.

8 Step 3. Fitness function

9 Estimate the acceleration (predictive value) for FV at the next time point using Equations (17) and (18).

10 Evaluate RMSE between predictive value and true value with Equation (19).

11 Step 4. Update five calibrated parameters

12 Update five parameters with fitness function.

13 Step 5. Termination condition

14 If the number of iteration is larger than the maximum value or RMSE is not larger than the specified gap, stop the algorithm. Otherwise, go back to Step 3.