This paper presents a real-time optimization method to compute the fuel-optimal torque split,
gear selection and engine on/off command for a Diesel hybrid electric vehicle equipped with
an exhaust aftertreatment system. We aim to minimize the amount of fuel consumed, while
achieving a charge-sustaining operation and keeping the tailpipe NO x emissions below the
legislative limit. We simplify the full vehicle model to facilitate the formulation of a mixed-
integer convex problem which is then solved using the proposed iterative convex …