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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.

Connected vehicles have the potential to transform the way we commute and travel in a multitude of ways. Vehicles will cooperate and coordinate with each other to solve problems appropriate for the environment in which they are operating. In this paper, we focus on the development of test equipment that includes the infrastructure and vehicles to measure and record all of the information necessary to quantify the performance of cooperative driving algorithms in realistic scenarios. The system allows tests to include real vehicles on the track and virtual vehicles in a digital twin. Real and virtual vehicles interact through the road-side units and test facility network, allowing each test vehicle to receive messages from virtual vehicles as well as the infrastructure. Messages transmitted from the test vehicles are received in the digital twin, allowing the real vehicle to interact with virtual vehicles.