Optimizing eco-driving control in mixed traffic flow of connected and automated electric vehicles with wireless charging

This paper investigates an eco-driving control strategy for mixed traffic flow at a signalized intersection with partial wireless charging, focusing on non-wireless-charging CAEVs (NWC-CAEVs) and wireless-charging CAEVs (WC-CAEVs), which can dynamically recharge in designated zones. Initially, we propose the NWC-eco-driving strategy to optimize the trajectory of NWC-CAEVs by formulating an optimal control problem (OCP) and leveraging the Pontryagin's minimum principle (PMP) to solve it. Building on this, we develop the WC-eco-driving strategy to segmentally guide the trajectory optimization of WC-CAEVs, taking into account the availability of adequate charging. The results show that implementing the NWC-eco-driving strategy can achieve a significant reduction in energy consumption for NWC-CAEVs, up to $45\%$ compared to the no control scenario. Moreover, the WC-eco-driving strategy outperforms the NWC-eco-driving strategy in the charging efficiency of WC-CAEVs, consequently resulting in a substantial net energy consumption reduction of up to $81.8\%$ or more for higher market penetration rates (MPRs) of WC-CAEVs and wireless charging power. Through analyzing the space-time trajectories, the interferences between two types of CAEVs in mixed traffic flow are brought to light, further highlighting the advantages of the WC-eco-driving strategy. The performance of eco-driving strategies is also examined across various factors. The resultant findings underscore the effectiveness of the proposed eco-driving strategies in enhancing the energy efficiency of mixed traffic flow systems.