Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 67, Issue 10, Pages 9060-9072Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2018.2864616
Keywords
Connected vehicles; eco-driving; optimal control; intersections
Categories
Funding
- NSF [51575293, 51622504, U1664262]
- National Key R&D Program in China [2016YFB0100906]
- International Science and Technology Cooperation Program of China [2016YFE0102200]
- State Key Lab Open funding [NVHSKL-201510]
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Eco-driving through multiple intersections can have significant fuel benefit for road transportation. Many existing studies assume that a vehicle runs at a constant speed between intersections, which can lead to a large error in fuel prediction and trajectory optimization. By directly taking powertrain dynamics into consideration, this paper studies generic operating rules of fuel-optimal operation 0)r connected vehicles traveling between arbitrary two red-signalized intersections. An optimal control problem is formulated to minimize engine fuel consumption, which is numerically solved by the Legendre pseudospectral algorithm. It was found that the optimal driving operation between two redsignalized intersections takes the form of either a two-stage solution, i.e., accelerating and decelerating, or a three-stage solution, i.e., accelerating, constant speed cruising, and decelerating, depending on the distance between the intersections and the speed limit. A quasi-optimal operating rule is proposed to approximate the optimal solutions, achieving much faster computational speed and less than +/- 1.5% fuel consumption error compared to the numerical method. The effectiveness of the quasi-optimal rule is demonstrated by applying it to selected multiintersection passing scenarios.
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