Eco-driving for Truck Platoon Velocity Planning Based on V2X Communication Considering Road Geometry

This paper proposes a two-level model predictive control scheme for a truck platoon traveling on a highway. In the upper layer, the velocity profiles of the whole trucks are designed over the receding horizon with consideration of the road geometry, speed limit, and energy efficiency. In the lower layer, for the purpose of tracking reference velocity, the engine torque, the transmission gear, and the brake torque are formulated as the traction force optimization based on Pontryagin's minimum principle to simplify the mixed-integer nonlinear programming problem, in which the selection of the gear is traversed as an offline table for demand traction force and the engine/brake torque being easily determined. Simulation results show that the proposed control scheme performs better than the constant headway gap policy in fuel consumption with the same effect of driving safety. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)