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This paper introduces an eco-driving highway cruising algorithm based on optimal control theory that is applied to a conventionally-powered connected and automated vehicle. Thanks to connectivity to the cloud and/or to infrastructure, speed limit and slope along the future route can be known with accuracy. This can in turn be used to compute the control variable trajectory that will minimize energy consumption without significantly impacting travel time. Automated driving is necessary to the implementation of this concept, because the chosen control variables (eg, torque and gear) impact vehicle speed. An optimal control problem is built up where quadratic models are used for the powertrain. The optimization is solved by applying

Pontryagin’s minimum principle, which reduces the problem to the minimization of a cost function with parameters called co-states. The proposed algorithm assumes piecewise constant …