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

Marcin Stryszowski, Stefano Longo, Efstathios Velenis, Raja Mazuir Bin Raja Ahsan Shah

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review


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.
Original languageEnglish
Title of host publication2018 European Control Conference (ECC)
Number of pages6
ISBN (Electronic)9783952426982
ISBN (Print)9781538653036
Publication statusPublished - 29 Nov 2018
Event2018 European Control Conference - Limassol, Limassol, Cyprus
Duration: 12 Jun 201815 Jun 2018
Conference number: 16


Conference2018 European Control Conference
Abbreviated titleECC 18
Internet address


  • Cost function
  • Force
  • Aerodynamics
  • Safety
  • Autonomous Vehicles
  • Drag

ASJC Scopus subject areas

  • Control and Systems Engineering


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