Article: Cooperative eco-driving of electric connected and autonomous vehicles in platoons and un-signalised intersection Journal: International Journal of Powertrains (IJPT) 2025 Vol.14 No.4 pp.297 - 338 Abstract: Eco-driving (ED) aims to find a speed trajectory that minimises energy consumption. This is typically formulated as an optimal control problem (OCP). The advent of connected and autonomous vehicles (CAVs) allows for direct and precise speed control, and their increased penetration allows cooperative behaviour leading to cooperative CAVs (CCAVs). This study builds upon an OCP formulated for ED of an electric vehicle CAV. The analytical objective function directly captures the energy consumption of an EV while incorporating position and speed constraints. In this paper, we extend the analytical framework to incorporate various cooperative strategies, and address different driving scenarios, such as platooning and un-signalised intersections. Three cooperative strategies, namely non-cooperative ED, cooperative ED and centralised cooperative ED, each distinguished based on the amount of information and motivation for the common good are presented. The performance of the ED controller in these scenarios is evaluated through simulations, and a theoretical analysis of string stability is also provided. The results indicate that increasing cooperation amongst the CCAVs improves energy efficiency in platoons and un-signalised intersections. Inderscience Publishers - linking academia, business and industry through research

Title: Cooperative eco-driving of electric connected and autonomous vehicles in platoons and un-signalised intersection

Authors: Vinith Kumar Lakshmanan; Ouafae El-Ganaoui Mourlan; Antonio Sciarretta

Addresses: Department of Control Systems and Signals, IFP Energies Nouvelles, Rueil Malmaision, France ' IFP School, 228-232 Av. Napoléon Bonaparte, 92500, Rueil-Malmaison, France ' Department of Control Systems and Signals, IFP Energies Nouvelles, Rueil Malmaision, France

Abstract: Eco-driving (ED) aims to find a speed trajectory that minimises energy consumption. This is typically formulated as an optimal control problem (OCP). The advent of connected and autonomous vehicles (CAVs) allows for direct and precise speed control, and their increased penetration allows cooperative behaviour leading to cooperative CAVs (CCAVs). This study builds upon an OCP formulated for ED of an electric vehicle CAV. The analytical objective function directly captures the energy consumption of an EV while incorporating position and speed constraints. In this paper, we extend the analytical framework to incorporate various cooperative strategies, and address different driving scenarios, such as platooning and un-signalised intersections. Three cooperative strategies, namely non-cooperative ED, cooperative ED and centralised cooperative ED, each distinguished based on the amount of information and motivation for the common good are presented. The performance of the ED controller in these scenarios is evaluated through simulations, and a theoretical analysis of string stability is also provided. The results indicate that increasing cooperation amongst the CCAVs improves energy efficiency in platoons and un-signalised intersections.

Keywords: eco-driving; cooperative control; connected and autonomous vehicles; CAVs.

DOI: 10.1504/IJPT.2025.151029

International Journal of Powertrains, 2025 Vol.14 No.4, pp.297 - 338

Received: 02 Jan 2025
Accepted: 05 Jul 2025
Published online: 09 Jan 2026 *

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Title: Cooperative eco-driving of electric connected and autonomous vehicles in platoons and un-signalised intersection

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