Energy and Time-Optimal Connected Autonomous Vehicle Interaction: Cruising and Overtaking

This paper considers the energy optimality aspect of Connected Autonomous Vehicle (CAV) interactions. The aim is to study optimal velocity profiles from the perspective of balance between cost of energy and cost of opportunity in an overtaking scenario. The objective is to find optimal velocity profiles, balancing both costs. In the proposed analysis a vehicle encounters another agent cruising at lower speed, and while the agents can platoon, the problem is set up to study an overtaking maneuver. Two scenarios are considered. A cooperative one where both agents are subject to a control input, and a reference, noncooperative one, where the overtakee ignores the overtaken. Results gives ideas for development of the decision-making framework for optimal CAV operation, and present the scale of improvement in the area of traffic energy efficiency which the connectivity will enable. In this approach traffic agents will cruise at various velocities, adding complexity, but can offer average energy savings of 21.4% while performing an overtaking maneuver.