A simple surrogate objective that minimizes positive control input, combined with a piecewise-linear approximation, yields a real-time linear program that reduces simulated fuel and electric energy consumption at intersections compared to five competing strategies.
Optimal control based eco-driving,
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Energy Consumption Optimization for Autonomous Vehicles via Positive Control Input Minimization
A simple surrogate objective that minimizes positive control input, combined with a piecewise-linear approximation, yields a real-time linear program that reduces simulated fuel and electric energy consumption at intersections compared to five competing strategies.