Systems and methods for eco-approach and departure at a signalized intersection using vehicle dynamics and powertrain control with multiple horizon optimization
A method for controlling vehicle propulsion includes receiving signal data corresponding to a signaled intersection of a route being traversed by a vehicle. The method further includes determining an intersection propulsion profile for the signaled intersection based on at least a current vehicle speed and the signal data. The method further includes determining, based on the intersection propulsion profile, whether to deviate from a vehicle energy consumption profile corresponding to the route being traversed by the vehicle. The method further includes, in response to a determination to deviate from the vehicle energy consumption profile, selectively controlling vehicle propulsion of the vehicle according to the intersection propulsion profile. The method further includes, in response to traversing the intersection, selectively controlling vehicle propulsion according to the vehicle energy consumption profile.
1 . A method for controlling vehicle propulsion, the method comprising:
receiving signal data corresponding to a signaled intersection of a route being traversed by a vehicle;
determining a target vehicle speed profile for at least a portion of the route being traversed by the vehicle, based on at least one route characteristic associated with the portion of the route being traversed by the vehicle and a plurality of vehicle parameters, wherein the plurality of vehicle parameters includes at least a vehicle identification number, manufacturer provided energy consumption efficiency of the vehicle, and at least one of a vehicle weight, a vehicle make, a vehicle model, and vehicle age, and wherein at least some of vehicle parameters of the plurality of vehicle parameters are provided by a computing device remotely located from the vehicle;
determining a vehicle energy consumption profile based on the target vehicle speed profile;
determining an intersection propulsion profile for the signaled intersection based on at least a current vehicle speed and the signal data;
determining, based on the intersection propulsion profile, whether to deviate from the vehicle energy consumption profile corresponding to the route being traversed by the vehicle; and
in response to a determination to deviate from the vehicle energy consumption profile:
selectively controlling vehicle propulsion of the vehicle according to the intersection propulsion profile; and
in response to traversing the intersection, adjusting the vehicle energy consumption profile based on the intersection propulsion profile selectively controlling vehicle propulsion, after traversing the intersection, according to the adjusted vehicle energy consumption profile.
2 . The method of claim 1 , wherein the signal data includes Signal Phase and Timing (SPaT) data.
3 . The method of claim 1 , wherein the signal data corresponds to cloud computing-based navigation information.
4 . The method of claim 1 , wherein the intersection propulsion profile is determined at least in part by multi-horizon optimization.
5 . The method of claim 1 , wherein the signal data is received via at least one of a vehicle-to-infrastructure communication, a vehicle-to-vehicle communication, and a vehicle-to-everything communication.
6 . The method of claim 1 , wherein the signal data indicates at least one of a current state of a traffic signal associated with the signaled intersection and a signal timing of the traffic signal associated with the signaled intersection.
7 . The method of claim 1 , wherein selectively controlling vehicle propulsion according to the adjusted vehicle energy consumption profile, in response to traversing the signaled intersection, includes:
further selectively adjusting the adjusted vehicle energy consumption profile based on at least signal data corresponding to at least one other signaled intersection; and
selectively controlling vehicle propulsion according to the further adjusted vehicle energy consumption profile.
8 . A system for controlling vehicle propulsion comprising:
a memory; and
a processor, wherein the memory includes instructions executable by the processor to:
receive signal data corresponding to a signaled intersection of a route being traversed by a vehicle;
determine a target vehicle speed profile for at least a portion of the route being traversed by the vehicle, based on at least one route characteristic associated with the portion of the route being traversed by the vehicle and a plurality of vehicle parameters wherein the plurality of vehicle parameters includes at least a vehicle identification number, manufacturer provided energy consumption efficiency of the vehicle, and at least one of a vehicle weight, a vehicle make, a vehicle model, and vehicle age, and wherein at least some of vehicle parameters of the plurality of vehicle parameters are provided by a computing device remotely located from the vehicle;
determine a vehicle energy consumption profile based on the target vehicle speed profile;
determine an intersection propulsion profile for the signaled intersection based on at least a current vehicle speed and the signal data;
determine, based on the intersection propulsion profile, whether to deviate from the vehicle energy consumption profile corresponding to the route being traversed by the vehicle; and
in response to a determination to deviate from the vehicle energy consumption profile:
selectively control vehicle propulsion of the vehicle according to the intersection propulsion profile; and
in response to traversing the intersection, adjust the vehicle energy consumption profile based on the intersection propulsion profile and selectively control vehicle propulsion, after traversing the intersection, according to the adjusted vehicle energy consumption profile.
9 . The system of claim 8 , wherein the signal data includes Signal Phase and Timing (SPaT) data.
10 . The system of claim 8 , wherein the signal data corresponds to cloud computing based navigation information.
11 . The system of claim 8 , wherein the intersection propulsion profile is determined at least in part by multi-horizon optimization.
12 . The system of claim 8 , wherein the signal data is received via at least one of a vehicle-to-infrastructure communication, vehicle-to-vehicle communication, and a vehicle-to-everything communication.
13 . The system of claim 8 , wherein the signal data indicates at least one of a current state of a traffic signal associated with the signaled intersection and a signal timing of the traffic signal associated with the signaled intersection.
14 . The system of claim 8 , wherein selectively controlling vehicle propulsion according to the adjusted vehicle energy consumption profile, in response to traversing the signaled intersection, includes:
further selectively adjusting the adjusted vehicle energy consumption profile based on at least signal data corresponding to at least one other signaled intersection; and
selectively controlling vehicle propulsion according to the further adjusted vehicle energy consumption profile.
15 . An apparatus for controlling vehicle propulsion comprising:
a memory; and
a processor, wherein the memory includes instructions executable by the processor to:
receive signal data corresponding to a signaled intersection of a route being traversed by a vehicle;
determine a target vehicle speed profile for at least a portion of the route being traversed by the vehicle, based on at least one route characteristic associated with the portion of the route being traversed by the vehicle and a plurality of vehicle parameters wherein the plurality of vehicle parameters includes at least a vehicle identification number, manufacturer provided energy consumption efficiency of the vehicle, and at least one of a vehicle weight, a vehicle make, a vehicle model, and vehicle age, and wherein at least some of vehicle parameters of the plurality of vehicle parameters are provided by a computing device remotely located from the vehicle;
determine a vehicle energy consumption profile based on the target vehicle speed profile;
determine an intersection propulsion profile for the signaled intersection based on at least a current vehicle speed and the signal data;
determine, based on the intersection propulsion profile, whether to deviate from the vehicle energy consumption profile corresponding to the route being traversed by the vehicle;
in response to a determination to deviate from the vehicle energy consumption profile, selectively control vehicle propulsion of the vehicle according to the intersection propulsion profile; and
in response to traversing the intersection:
modify, based on the signal data and the intersection propulsion profile, the vehicle energy consumption profile; and
selectively control vehicle propulsion according to the modified vehicle energy consumption profile.
16 . The apparatus of claim 15 , wherein the signal data includes Signal Phase and Timing (SPaT) data; and
the signal data is received via at least one of a vehicle-to-infrastructure communication, vehicle-to-vehicle communication, and a vehicle-to-everything communication.
17 . The apparatus of claim 15 , wherein the intersection propulsion profile is determined at least in part by multi-horizon optimization; and
the signal data is received via at least one of a vehicle-to-infrastructure communication, vehicle-to-vehicle communication, and a vehicle-to-everything communication.
18 . The apparatus of claim 15 , wherein the signal data indicates at least one of a current state of a traffic signal associated with the signaled intersection and a signal timing of the traffic signal associated with the signaled intersection.