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Optimal routes and speeds for a heavy-duty truck traversing a network of roads can be automatically determined so as to minimize fuel costs (and optionally other operating costs) while still making on-time delivery of freight to a destination. Route and speed optimization can be based on a network model in which edges correspond to road segments and each edge has an associated cost function that reflects fuel consumption for a truck traversing the corresponding road segment. Given a starting location, destination location, delivery deadline, and truck information, an efficient search algorithm can be executed by a computer to determine an optimal path and speed through the network model, subject to the constraint of arriving at the destination by the delivery deadline. A truck operator can follow the route to the destination, driving at the optimal speed.