Recent studies from several authors show that it is possible to lower the fuel consumption for
heavy trucks by utilizing information about the road topography ahead of the vehicle. The
approach in these studies is receding horizon control where horizon length and residual
cost are main topics. To approach these topics, fuel equivalents previously introduced based
on physical intuition are given a mathematical interpretation in terms of Lagrange multipliers.
Measures for the suboptimality, caused by the truncated horizon and the residual cost …