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With vehicle platooning becoming an important research field in recent years, it is now imperative to introduce platoons as part of the dynamic environment, considering overtaking and merging possibilities. This article studies optimal speed trajectories and longitudinal control with optimized energy efficiency for an autonomous vehicle with several preceding platoons and full terrain information. It aims at improving the energy efficiency of vehicles with Advanced Driver Assistance Systems (ADAS). A forward discrete dynamic programming (DDP) algorithm with distance as the discretization basis is used to derive speed trajectories in the trade-off between air drag reduction and energy saved by utilizing the road slope information. The problem is decomposed into decisions whether to overtake or to merge into the nearest platoon with the assumption of sufficient distance among platoons. During the process, speed …