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The platooning of connected automated vehicles (CAV) possesses the significant potential of reducing energy consumption in the Intelligent Transportation System (ITS). Moreover, with the rapid development of eco-driving technology, vehicle platooning can further enhance the fuel efficiency by optimizing the efficiency of the powertrain. Since road grade is a main factor that affects the energy consumption of a vehicle, the estimation of the road grade with high accuracy is the key factor for a connected vehicle platoon to optimize energy consumption using vehicle-to-vehicle (V2V) communication. Commonly, the road grade is quantified by single consumer grade global positioning system (GPS) with the geodetic height data which is rough and in the meter-level, increasing the difficulty of precisely estimating the road grade.

Lane-changing is a typical traffic scene effecting on road traffic with high request for reliability, robustness and driving comfort to improve the road safety and transportation efficiency. The development of connected autonomous vehicles with V2V communication provide more advanced control strategies to research of lane-changing. Meanwhile, four-wheel steering is an effective way to improve flexibility of vehicle. The front and rear wheels rotate in opposite direction to reduce the turning radius to improve the servo agility operation at the low speed while those rotate in same direction to reduce the probability of the slip accident to improve the stability at the high speed. Hence, this paper established Four-Wheel-Steering(4WS) vehicle dynamic model and quasi real lane-changing scenes to analyze the motion constraints of the vehicles.

Nowadays, SC is recognized as a key element of hybrid energy storage system in modern energy supply chain for electric vehicles (EVs). Co9S8 as a promising electrode material attracts much attention for supercapacitor owing to its superior electrochemical capacity. However, its poor stability and electronic conductivity, which result in inferior cycling performance and rate capability, have seriously limited the practical application of Co9O8 in supercapacitors. In this article, Co9S8 nanoparticles were embedded in reduced graphene oxide (rGO) via a simple anneal approach as high efficient and stable electrodes for SCs. The Co9S8/rGO composites were characterized by scanning electron microscopy (SEM), transmission electron microscopy (TEM), and X-ray diffraction (XRD). The Co9S8 nanoparticles were inserted tightly between the rGO layers due to strong intermolecular forces, preventing the cluster in reduction process of rGO from graphene oxide (GO).