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This paper presents a prescient energy management strategy based on the model predictive control (MPC) for the parallel plug-in hybrid electric vehicles (PHEVs). In this hierarchical strategy, dynamic programming (DP), with its improved calculation speed, is chosen as the solution algorithm to calculate the optimal power distribution combinations in the predicted receding horizon and under the given terminal battery state-of-charge (SOC) terminal constraint. A synthesized velocity profile prediction (SVPP) method is adopted. The macroscopically and microcosmically predicted velocities obtained by the participatory sensing data (PSD)-based method and the Markov chain (MC), respectively, are synthesized by the linear regression method, obtaining the final velocity profile. In the linear regression step, a particle filter (PF) is implemented for the parameter estimation. According to the characteristics of the driving conditions and components, the terminal battery SOC in each control horizon is constrained by a novel method. Finally, we demonstrate the capability of the proposed scheme in terms of fuel economy improvement by comparing the value of this metric with those of other strategies through simulation.