Optimal eco-driving of a heavy-duty vehicle behind a leading heavy-duty vehicle
Journal article, 2021

We propose an eco-driving technique for a heavyduty ego vehicle that drives behind a leading heavy-duty vehicle. By observing a decrease in speed of the leading vehicle when driving uphill, its power capability is estimated and its future speed is predicted within a look-ahead horizon. The predicted speed is utilised in a model predictive controller (MPC) to plan the optimal speed of the ego vehicle such that its fuel consumption is minimised, while keeping a safe distance to the leading vehicle and reducing the need for braking. The effectiveness of the proposed technique is analysed in two case studies on real road topographies. By using the leading vehicle observer, fuel savings are achieved up to 8% compared to the case where the preceding vehicle is assumed to have a constant speed within the look-ahead horizon.


Speed prediction

Leading vehicle observer

Model predictive control

Heavy-duty vehicles


Nalin Kumar Sharma

Chalmers, Electrical Engineering, Systems and control

Ahad Hamednia

Chalmers, Electrical Engineering, Systems and control

Nikolce Murgovski

Chalmers, Electrical Engineering, Systems and control

Esteban Gelso

Volvo Cars

Jonas Sjöberg

Chalmers, Electrical Engineering, Systems and control

IEEE Transactions on Intelligent Transportation Systems

1524-9050 (ISSN) 1558-0016 (eISSN)

Vol. 22 12 7792-7803 9151336

Optimal energy management in miscellaneous traffic

Swedish Electromobility Centre, 2018-01-01 -- 2019-06-30.

Subject Categories

Transport Systems and Logistics

Infrastructure Engineering

Vehicle Engineering



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