# Eco-driving Trajectory Planning of a Heterogeneous Platoon in Urban Environments

**Authors:** Hao Zhen, Sahand Mosharafian, Jidong J. Yang, Javad Mohammadpour Velni  
**arXiv:** [2205.09618](https://arxiv.org/abs/2205.09618)  
**Date:** 2022-05-19  
**Summary page:** https://www.summarizepaper.com/en/arxiv-id/2205.09618v1/

## Key points

- Eco-driving trajectory planning approach for a platoon of heterogeneous EVs in urban environments
- Control strategy considers energy consumption, mobility, and passenger comfort
- Enables vehicles to pass signalized intersections without stops
- Leader vehicle plans trajectory using dynamic programming (DP)
- Following CAVs use cooperative adaptive cruise control or plan own trajectories based on intersection conditions
- Simulation results show reduced energy consumption without compromising mobility
- Contributes to development of eco-driving and platooning techniques for EVs in urban areas
- Potential benefits for traffic efficiency and environmental sustainability

## Summary

This paper presents an eco-driving trajectory planning approach for a platoon of heterogeneous electric vehicles (EVs) operating in urban environments. The proposed control strategy considers energy consumption, mobility, and passenger comfort while enabling vehicles to pass signalized intersections without stops. The leader vehicle plans its trajectory using dynamic programming (DP), optimizing energy consumption and other factors. Following CAVs either use cooperative adaptive cruise control or plan their own trajectories based on intersection conditions. Simulation results demonstrate reduced energy consumption without compromising mobility. This research contributes to the development of eco-driving and platooning techniques for EVs in urban areas, offering potential benefits for traffic efficiency and environmental sustainability.