Saving Energy with Delayed Information in Connected Vehicle Systems

In this paper, we design an energy-optimal longitudinal controller for connected automated trucks driving in mixed traffic with lean penetration of connected vehicles. The controller utilizes information received via vehicle-to-vehicle connectivity from vehicles traveling ahead of the truck, and additional delays are introduced into the control law to improve energy efficiency. We evaluate the robustness of the energy-optimal control parameters and calculate the amount of energy benefits. Simulation results show 18% improvement of energy efficiency compared to a non-connected design, and 3% improvement compared to the connected design without additional delay.