Ecological Cooperative Look-Ahead Control for Automated Vehicles Travelling on Freeways With Varying Slopes

Higher fuel economy standards and more stringent limitations on greenhouse gas emissions for ground vehicles have been made due to public concerns about energy crisis and environmental issues. By organizing a group of automated vehicles into a platoon at a short intervehicular distance, the overall fuel consumption and greenhouse gas emissions of vehicle platoon can be decreased due to reduced aerodynamic drag, which is called the platooning technology. In addition, the eco-driving technology can help further increase the fuel efficiency of vehicle platoon by optimizing speed trajectories of vehicles. However, little research has been done into the combination of the eco-driving and platooning technologies. Based on distributed model predictive control (DMPC), this paper proposes an ecological cooperative look-ahead control strategy for a platoon of automated vehicles travelling on a freeway with varying slopes, where both the eco-driving and platooning technologies are used. To maximize the fuel efficiency of vehicle platoon, an ecological cooperative look-ahead control problem (Eco-CLC) is first formulated based on DMPC, where rotational inertia coefficient related to reduction ratio of gear box, aerodynamic drag related to spacing and model constraints are considered. Since the Eco-CLC problem is a nonconvex and nonlinear optimization problem with hard state constraints, it is very difficult to quickly obtain its optimal solution. To enhance real-time control performance, after the hard state constraints of the Eco-CLC problem are transformed into parts of the multi-objective function using the band-stop function, the improved ecological cooperative look-ahead control (iEco-CLC) based on DMPC is given. A particle swarm optimization algorithm with multiple dynamic populations is further presented to quickly solve the iEco-CLC problem online. Simulation results demonstrate, compared with benchmarks, the proposed strategy can save more than 21% of fuel for vehicle platoon.