Fuel-Efficient Driving Strategies for Heavy-Duty Vehicles: A Platooning Approach Based on Speed Profile Optimization
Journal article, 2018

A method for reducing the fuel consumption of a platoon of heavy-duty vehicles (HDVs) is described and evaluated in simulations for homogeneous and heterogeneous platoons. The method, which is based on speed profile optimization and is referred to as P-SPO, was applied to a set of road profiles of 10 km length, resulting in fuel reduction of 15.8% for a homogeneous platoon and between 16.8% and 17.4% for heterogeneous platoons of different mass configurations, relative to the combination of standard cruise control (for the lead vehicle) and adaptive cruise control (for the follower vehicle). In a direct comparison with MPC-based approaches, it was found that P-SPO outperforms the fuel savings of such methods by around 3 percentage points for the entire platoon, in similar settings. In P-SPO, unlike most common platooning approaches, each vehicle within the platoon receives its own optimized speed profile, thus eliminating the intervehicle distance control problem. Moreover, the P-SPO approach requires only a simple vehicle controller, rather than the two-layer control architecture used in MPC-based approaches.

fuel-optimal driving

genetic algorithm

Speed profile optimization

vehicle platooning


Sina Torabi

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Mattias Wahde

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Journal of Advanced Transportation

0197-6729 (ISSN)

Vol. 2018 4290763

Areas of Advance


Subject Categories

Energy Engineering

Vehicle Engineering



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