Cooperative energy management of automated vehicles
Journal article, 2016

This paper presents a cooperative adaptive cruise controller that controls vehicles along a planned route in a possibly hilly terrain, while keeping safe distances among the vehicles. The controller consists of two predictive layers that may operate with different update frequencies, horizon lengths and model abstractions. The top layer plans kinetic energy in a centralized manner by solving a quadratic program, whereas the bottom layer optimizes gear in a decentralized manner by solving a dynamic program. The efficiency of the proposed controller is shown through several case studies with different horizon lengths and number of vehicles in the platoon.

energy management

quadratic programming

dynamic programming

model predictive control

cooperative adaptive cruise control

vehicle platoon


Nikolce Murgovski

Chalmers, Signals and Systems, Systems and control, Mechatronics

Bo Egardt

Chalmers, Signals and Systems, Systems and control, Automatic Control

Magnus Nilsson

Viktoria Swedish ICT

Control Engineering Practice

0967-0661 (ISSN)

Vol. 57 84-89

Driving Forces

Sustainable development

Areas of Advance



Subject Categories

Computational Mathematics

Control Engineering



More information

Latest update