Eco-Driving System for Connected Automated Vehicles: Multi-Objective Trajectory Optimization

Abstract

This study aims to leverage the advances of connected automated vehicle (CAV) technology to design an eco-driving and platooning system that can improve both fuel and operational efficiency of vehicles on the freeways. The proposed algorithm optimizes CAVs’ trajectories with three objectives, including travel time minimization, fuel consumption minimization, and traffic safety improvement, following a two-stage control logic. The first stage, designed for CAV trajectory planning, is carried out with two optimization models. The first model functions to predict the freeway traffic states in the near future and accordingly optimize CAVs’ desired speed profile to minimize total freeway travel time. Notably, the interactions between CAVs and human-driven vehicles (HVs) are described in the embedded traffic flow model and the optimization can fully account for CAVs’ impact to HVs’ speeds. Then grounded on the obtained speed profile, the second eco-driving model would further update it so as to platoon CAVs and minimize their fuel consumption. The second stage, for real-time control purpose, is developed to ensure the operational safety of CAVs. Particularly, based on the speed profile from the first stage, real-time adaptions would be placed on CAVs to dynamically adjust speeds, in response to local driving conditions. To evaluate the proposed algorithms, this study selects a freeway segment of I-15 in Salt Lake City as the study site. The extensive numerical simulation results confirmed the effectiveness of the proposed framework in both mitigating freeway congestion and reducing vehicles’ fuel consumption.