Cooperative ecological cruising using hierarchical control strategy with optimal sustainable performance for connected automated vehicles on varying road conditions

• Published in: Journal of cleaner production 2020-12, Vol.275, p.123056, Article 123056
• Main Authors: Yang, Yu, Ma, Fangwu, Wang, Jiawei, Zhu, Sheng, Gelbal, Sukru Yaren, Kavas-Torris, Ozgenur, Aksun-Guvenc, Bilin, Guvenc, Levent
• Format: Article
• Language: English
• Subjects: Dynamic programming; Ecological cooperative adaptive cruise control; Sustainable; Vehicle platoon; Velocity trajectory
• ISSN: 0959-6526; 1879-1786
• DOI: 10.1016/j.jclepro.2020.123056

Facing the increasingly severe energy and environmental problems, platooning of multiple vehicles has great potential for sustainability of intelligent transportation systems. This study develops a novel hierarchical ECACC strategy with energy-saving achievements by conducting the ecological velocity trajectory planning of the leading vehicle based on dynamic programming and car-following driving of the rest of the vehicles in the platoon based on combined feedforward-feedback control. The main purpose is to reduce the energy consumption of multiple vehicles in intelligent transportation systems with consideration of trip time and car-following performance. The optimal velocity planning uses an innovative integrated longitudinal and lateral vehicle dynamics approach where both the lateral stability and energy efficiency in continuous curved roads are guaranteed at the same time. The results show that the proposed ECACC in energy-optimal mode can reduce energy consumption by up to 38.1% compared to conventional energy-optimal fixed speed cruising. Moreover, the connected automated vehicle platoon presents better car-following performance with string stability as opposed to the Cooperative Adaptive Cruise Control based on feedback control and model predictive control. The results indicate the great potential of the proposed ECACC strategy to further improve the sustainability of intelligent transportation systems. [Display omitted] •Hierarchical control for CAVs with superior car-following and energy performance.•The vehicle lateral kinetics is considered for eco velocity trajectory planning.•Using dynamic battery characteristics to accurately describe the SOC variation.•The trip time factor is investigated to satisfy the personalized time requirement.