Realization methods for energy optimal urban driving are the prime focus of this paper. Insights into the real-time generation of such trajectories as well as “in traffic” methods for their execution are provided. This includes the usage of piecewise linear approximations of typical urban speed profiles, urban platooning, filtering of trajectories, and modifying initial accelerations on the trajectory implementation side. On the computation side, precomputed trajectories, and closed-form approximated solutions are investigated.
Keywords Electric vehicles, energy efficiency, optimized speed profiles, urban platoons