Urban Eco-driving of Connected and Automated Vehicles in Traffic-Mixed and Power-heterogeneous Conditions

This paper addresses urban ecological driving (Eco-driving) in traffic-mixed and power-heterogeneous conditions that involve electrified connected and automated vehicles (CAVs) and traditional fuel-powered manually-driven vehicles (MVs). The paper studies how eco-driving for electrified CAVs would affect MVs' fuel consumptions, in urban traffic conditions with small market penetration rates (MPRs) of CAVs. While designing eco-driving strategies for CAV s, previous works rarely considered the disturbance of MVs moving in front of the CAVs and the interference of queueing dynamics at signalized intersections. This paper addresses both uncertain factors via a rolling-horizon optimal control scheme. The results of simulation studies show that electrified CAVs each have the potential of reducing more than 70% energy consumption via eco-driving, meanwhile leading to 28% fuel consumption reduction on average for each involved MV.