Development and Validation of Dynamic Programming based Eco Approach and Departure Algorithm

Document Type

Conference Proceeding

Publication Date



Department of Mechanical Engineering-Engineering Mechanics


Eco Approach and Departure (Eco-AnD) is a Connected Automated Vehicle (CAV) technology aiming to reduce energy consumption for crossing a signalized intersection or set of intersections in a corridor that features vehicle-to-infrastructure (V2I) communication capability. This research focuses on developing a Dynamic Programming (DP) based algorithm for a PHEV operating in Charge Depleting mode. The algorithm used the Reduced Order Energy Model (ROM) to capture the vehicle powertrain characteristics and road grade to capture the road dynamics. The simulation results are presented for a real-world intersection and 20-25% energy benefits are shown by comparing against a simulated human driver speed profile. The vehicle-level validation of the developed algorithm is carried out by performing closed-course track testing of the optimized speed solutions on a real CAV vehicle. A controlled intersection system with simulated signal phase and timing (SPaT) was used to establish the desired inputs for DP. Further, analysis is made to understand the computational efforts needed for the developed DP algorithm for different discrete levels and its effects on algorithm performance.

Publication Title

SAE Technical Papers