**5. Conclusions**

In this paper, a PMP-MPC method is proposed considering the battery thermal dynamics for HEAGVs. First, speed information is obtained through intelligent network technology to realize the prediction of power demand, and then the SOC reference trajectory is planned in segments. Second, a PMP-MPC EMS is proposed. Third, the effect of battery temperature on total cost is analyzed by considering battery temperature in the PMP-MPC EMS. The resulting EMS optimizes fuel consumption and battery temperature, and the strategy is applicable to the HEAGV. Finally, the proposed method is compared with PMP, DP, and RB to verify its effectiveness. Compared with the rule-based method, the fuel economy improved by 5.14% and 5.2% for both driving cycles a and b, respectively. Temperature costs are also reduced by 5.9% and 4.9%, respectively. Therefore, the proposed PMP-MPC is an effective online method.

**Author Contributions:** Conceptualization, Z.L., X.J. and C.Y.; methodology, Z.L., X.J. and M.Z.; software, Z.L. and M.Z.; validation, Z.L., X.J. and M.Z.; formal analysis, Z.L., X.J. and M.Z.; investigation, Z.L.; resources, Z.L.; data curation, Z.L.; writing—original draft preparation, Z.L., X.J. and M.Z.; writing—review and editing, Z.L., X.J., M.Z., C.Y. and L.Y.; visualization, Z.L.; supervision, Z.L. and X.J. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the National Natural Science Foundation of China (No. 61973265).

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.

#### **References**


**Disclaimer/Publisher's Note:** The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content.
