On optimal mission planning for conventional and electric heavy duty vehicles
Licentiatavhandling, 2020

Ever-growing energy consumption and CO2 emissions due to the increase in road transport are major challenges that attract international attention, especially policy makers, logistic service providers and customers considering environmental, ecological and economic issues. Other negative side-effects caused by the growth of the road transport are the extensive economic and social costs because of traffic congestion. Thus, there is a strong motivation to investigate possible ways of improving transport efficiency aiming at achieving a sustainable transport, e.g. by finding the best compromise between resource consumption and logistics performance. The transport efficiency can be improved by optimal planning of the transport mission, which can be interpreted as optimising mission start and/or finish time, and velocity profile of the driving vehicle. This thesis proposes a bi-layer mission planner for long look-ahead horizons stretched up to hundreds of kilometers. The mission planner consists of logistics planner as its top level and eco-driving supervisor as its bottom level. The logistics planner aims at optimising the mission start and/or finish time by optimising energy consumption and travel time, subject to road and traffic information, e.g. legal and dynamic speed limits. The eco-driving supervisor computes the velocity profile of the driving vehicle by optimising the energy consumption and penalising driver discomfort. To do so, an online-capable algorithm has been formulated in MPC framework, subject to road and traffic information, and the pre-optimised mission start and/or finish time. This algorithm is computationally efficient and enables the driving vehicle to adapt and optimally respond to predicted disturbances within a short amount of time. The mission planner has been applied to conventional and fully-electric powertrains. It is observed that total travel timeis reduced up to 5.5 % by optimising the mission start time, when keeping anaverage cruising speed of about 75 km/h. Also, compared to standard cruise control, the energy savings of using this algorithm is up to 11.6 %.

Logistics planning

Transport efficiency

Mission planning

Optimal control


Model predictive control

Opponent: Jonas Mårtensson, Kungliga Tekniska Högskolan (KTH), Sweden


Ahad Hamednia

Chalmers, Elektroteknik, System- och reglerteknik

Computationally efficient algorithm for eco-driving over long look-ahead horizons

Time optimal and eco-driving mission planning under traffic constraints

Optimal eco-driving of a heavy-duty vehicle behind a leading heavy-duty vehicle

Robusta styrsystem för integrerad energihantering i fordon

Energimyndigheten (P43322-1), 2016-12-01 -- 2019-12-31.


Hållbar utveckling





Transportteknik och logistik





Opponent: Jonas Mårtensson, Kungliga Tekniska Högskolan (KTH), Sweden

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