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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Trajectory prediction dimensionality reduction for low-cost connected automated vehicle systems

Here, to facilitate low-cost connected automated vehicle (CAV) system development, this study proposes two interpretable dimensionality reduction techniques in vehicle trajectory prediction, i.e., the piecewise Taylor series approximation (PTA) and the piecewise Fourier series approximation (PFA), to lower computation complexity, reduce device investment, and decrease computation energy consumption. Two benchmarks are developed, the long short-term memory (LSTM)-based model without dimensionality reduction and the LSTM-based model with encoder-decoder (a widely used dimensionality reduction technique). Results show that the four predictions have similar accuracy, and the training time (proportional to computation energy consumption) of models with dimensionality reduction techniques is greatly reduced. The reduction is even more significant when PTA/PFA is used. Sensitivity analysis advises PFA/PTA parameter selections to reduce computation complexity without significant loss of prediction accuracy. Further, the robustness of the LSTM PTA/PFA is proven by the investigation of data noises.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2025

A Predictive Deep-Reinforcement-Learning-Based Connected Automated Vehicle Anticipatory Longitudinal Control in a Mixed Traffic Lane Change Condition

Maintaining safety and efficiency for mixed traffic consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs) is an arduous task due to the inherent HDVs’ stochasticity. Especially for longitudinal control, which is the basic function of vehicle automation, prevailing research primarily considers CAV’s car-following control merely the acceleration and deceleration of leading vehicles. However, this approach overlooks the potential disruptions caused by surrounding vehicles executing lane changes, which can significantly impact the control vehicle’s stability and overall safety. Hence, our study introduces a predictive deep reinforcement learning (DRL) longitudinal CAV controller. This innovative approach leverages prediction from a physics-informed neural network as well as the control capability of DRL to better anticipate and mitigate issues arising from lane-changing, enhancing the safety and efficiency of CAVs in such scenarios. Finally, validated by the numerical simulations embedded with the real-world data, the results indicate that the proposed controller significantly enhances the safety and efficiency of CAVs in situations involving lane changes by other vehicles, showcasing its potential as a valuable tool in advancing CAV technology in mixed traffic.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2020

Boosting Energy Efficiency of Heterogeneous Connected Automated Vehicle (CAV) Fleets via Anticipative and Cooperative Vehicle Guidance

In 2017, the Department of Energy funded a team at Clemson University and Argonne National Laboratory to develop collaborative perception and anticipative/predictive vehicle guidance schemes for Connected and Automated Vehicles (CAVs) and to quantify the energy saving potential of this technology in large scale traffic microsimulations at different levels of technology penetration and also experimentally. The project goal was demonstrating up to a 10% energy saving potential from different aspects of the implementation with a focus on reducing unnecessary braking events by anticipatory speed and lane selection. This project introduced novel anticipative car following and lane selection schemes for Connected and Automated Vehicles (CAVs). Our control schemes benefited from prediction of human driver behavior, information exchange between CAVs, and sometimes from collaboration to save energy, reduce braking events, and harmonize traffic. The energy savings was first demonstrated by traffic micro-simulations and then via a novel Vehicle-In-the-Loop (VIL) experimental testbed.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Real-Sim Interface: Enabling Multi-resolution Simulation and X-in-the-Loop Development for Connected and Automated Vehicles

We report connected and automated vehicles (CAVs) can bring safety, mobility, and energy benefits to transportation systems. Ideally, CAV applications would be fully evaluated and validated prior to real-world implementation. However, many technical challenges in both software and hardware hinder the process. To comprehensively evaluate all aspects of CAV applications, an integrated evaluation environment is needed with various simulation tools from different domains. In the current literature, there lacks a well-developed interface to enable multi-resolution simulation of vehicle, traffic, virtual environment, and hardware-in-the-loop (HIL) simulation. In this work, a modular and flexible interface is developed to enable multi-resolution vehicle and traffic co-simulation for CAV applications. This interface is built upon Oak Ridge National Laboratory’s (ORNL’s) Real-Sim approach, can support various simulation tools and real-time X-in-the-loop (XIL) simulations, and is based on network communication protocols. The network communication delays are analyzed for simultaneous connection of up to 20 simulators. Then, two example applications are studied to demonstrate the potential usage of the Real-Sim interface: (1) a centralized merging scenario where the dynamics of two ego vehicles are emulated with detailed vehicle and powertrain dynamics models and (2) a signal-controller-in-the-loop (SCIL) evaluation where one intersection of the simulated traffic scenario is controlled by a physical signal controller. This Real-Sim interface is a tool that allows researchers to bring real, tangible hardware and software into simulated environments to comprehensively evaluate and support a wide variety of CAV applications.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2020

Safety evaluation of connected and automated vehicles in mixed traffic with conventional vehicles at intersections

Connected and Automated Vehicles (CAVs) can potentially improve the performance of the transportation system by reducing human errors. This paper investigates the safety impact of CAVs in a mixed traffic with conventional vehicles at intersections. Analyzing real-world AV crashes in California revealed that rear-end crashes at intersections are the dominant crash type. Therefore, to enhance our understanding of the future interactions between human-driven vehicles with CAVs at intersections, a simulation framework was developed to model the mixed traffic environment of Automated Vehicles (AV), cooperative AVs, and conventional human-driven vehicles. In order to model AVs driving behavior, Adaptive Cruise Control (ACC) and cooperative ACC (CACC) models are utilized. Particularly, this study explores system improvements due to automation and connectivity across varying CAV market penetration scenarios. ACC and CACC car following models are used to mimic the behavior of AVs and cooperative AVs. Real-world connected vehicle data are utilized to modify and tune the acceleration/deceleration regimes of the Wiedemann model. Next, the driving volatility concept capturing variability in vehicle speeds was utilized to calibrate the simulation to represent the safety performance of a real-world environment. Two surrogate safety measures are used to evaluate the safety performance of a representative intersection under different market penetration rate of CAVs: the number of longitudinal conflicts and driving volatility. At low levels of ACC market penetration, the safety improvements were found to be marginal, but safety improved substantially with more than 40% ACC penetration. Additional safety improvements can be achieved more quickly through the addition of cooperation and connectivity through CACC. Furthermore, ACC/CACC vehicles were found to improve mobility performance in terms of average speed and travel time at intersections.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2023

Evaluating Connected and Automated Vehicles in Co-Simulation Environment of Traffic Microsimulation and Vehicle Dynamics

Connected and automated vehicles (CAVs) have the potential to improve many aspects of the current transportation systems such as safety, mobility, and energy efficiency. In order to evaluate the benefits and impacts of a CAV, the CAV control algorithm is typically implemented on vehicles simulated in a traffic microsimulation environment. However, traffic microsimulation usually lacks detailed vehicle and powertrain dynamics, making it challenging to fully understand how a CAV control algorithm will perform and respond on an actual vehicle. Whether the same benefits measured in the simulation will also be observed in real-world remains an open question. One potential approach to fill in this gap is to conduct a co-simulation of traffic microsimulation with detailed vehicle and powertrain dynamics models, often developed in MATLAB Simulink. However, current microsimulation tools such as VISSIM and SUMO do not have a ready-to-use interface for co-simulation with vehicle dynamics and Simulink. Also, even if such an interface exists, it will be tool-specific, making it challenging to shift from one tool to another or test CAV controls in different tools. There are needs for tool-agnostic co-simulation as different microsimulation tools have their pros and cons, and researchers often need to use different tools based on the purposes of the simulation, project needs, and applications. In this work, Flexible Interface for X-in-the-loop Simulation (FIXS) is developed that can support the co-simulation of microsimulation, CAV control algorithm, and vehicle dynamics model in Simulink. Enabled by the FIXS, the benefit and performance of a CAV control algorithm can be better understood with the consideration of vehicle responses and dynamics. The connection to VISSIM and SUMO is handled internally by the interface, and users can easily switch tools by changing a configuration file. The co-simulation capability is demonstrated for a VISSIM eco-approach and departure CAV scenario and a SUMO cooperative merging scenario for both a passenger CAV and a class 8 heavy-duty connected and automated trucks.

Shao, Yunli↗
DOE OSTI2022

Important powertrain dynamics for developing models for control of connected and automated electrified vehicles

Connected and Automated Vehicles (CAV) technology presents significant opportunities for energy saving in the transportation sector. CAV technology forecasts vehicle and powertrain power needs under various terrain, ambient, and traffic conditions. Integration of the CAV technology in Hybrid Electric Vehicles (HEVs) provides the opportunity for optimal vehicle operation. Indeed, Hybrid Electric Vehicle powertrains present high degrees of flexibility and possibility for choosing optimum powertrain modes based on the predicted traction power needs. In modeling complex CAV powertrain dynamics, the modeler needs to consider short-time scale powertrain dynamics, such as engine transients, and hysteresis of mode-switching for a multi-mode HEV. Therefore, the powertrain dynamics essential for developing powertrain controllers for a class of connected HEVs is presented. To this end, control-oriented powertrain dynamic models for a test vehicle consisting of full electric, hybrid, and conventional engine operating modes are developed. The resulting powertrain model can forecast vehicle traction torque and energy consumption for the specified prediction horizon of the test vehicle. The model considers different operating modes and associated energy penalty terms for mode switching. Thus, the vehicle controller can determine the optimum powertrain mode, torque, and speed for forecasted vehicle operation via utilizing connectivity data. The powertrain model is validated against the experimental data and shows prediction error of less than 5% for predicting vehicle energy consumption. The model is used to create energy penalty maps that can be used for CAV control, for example fuel penalty map for engine torque changes (10–40 Nm) at each engine speed. The results of model-based optimization show optimum switching delays ranging from 0.4 to 1.4 s to avoid hysteresis in mode switching.

Engineering↗
DOE OSTI2021

Distributed Maneuver Planning With Connected and Automated Vehicles for Boosting Traffic Efficiency

Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through traffic motion harmonization, even when operating in mixed traffic with other human-driven vehicles. The key to realizing these potentials are coordinated control schemes that can be implemented in a distributed manner with the CAVs. In this paper, we propose a distributed predictive control framework that features a two-dimensional maneuver planner incorporating explicit coordination constraints between connected vehicles operating in mixed traffic at various penetration levels. Here, the framework includes a distributed implementation of a reference speed assigner that estimates local traffic speed from on-board measurements and communicated information. We present an extensive evaluation of the proposed framework in traffic micro-simulations at various CAV penetrations from traffic flow, energy use, and lane utilization points of view. Results are compared to a baseline scenario with no CAVs, as well as, a benchmark one-dimensional planner.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2021

Impact of cyberattacks on safety and stability of connected and automated vehicle platoons under lane changes

Connected and automated vehicles (CAVs) offer a huge potential to improve the operations and safety of transportation systems. However, the use of smart devices and communications in CAVs introduce new risks. CAVs would leverage vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication, thus providing additional system access points compared to traditional systems. Automation makes these systems more vulnerable and increases the consequences of cyberattacks. This study utilizes an infrastructure-based communication platform consisting of cooperative adaptive cruise control and lane control advisories developed by the authors to perform cyber risk assessment of CAVs. The study emulates three types of cyberattacks (message falsification, dedicated denial of service, and spoofing attacks) in a representative traffic environment consisting of multiple CAV platoons and lane change events to analyze the safety and stability impacts of the cyberattacks. Simulation experiments using VISSIM reveals that traffic stream and CAV string is unstable under all three types of cyberattacks. The worst case is represented by the message falsification attack. Increases in volatility are observed over a no attack case, with variations increasing by an average of 43%–51% along with an increase of over 3000 crash conflicts. Similarly, lane change crash conflicts are observed to be more severe compared to rear end crash conflicts, showing a higher probability of severe injuries. Further, the case of slight cyberattack on a single CAV also creates significant disruption in the traffic stream. Analysis of variance (ANOVA) reveals the statistical significance of the results. Furthermore, these results pave the way for future design of secure systems from a monitoring perspective.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

Energy-Efficient Maneuvering of Connected and Automated Vehicles (CAVs) with Situational Awareness at Intersections (Final Progress Report)

The increased development of Connected and Automated Vehicle (CAV) systems, currently used for safety and driver convenience, presents new opportunities to improve the energy efficiency of vehicles. Southwest Research Institute (SwRI) achieved a 20% energy consumption reduction in a 2017 Toyota Prius Prime plug-in hybrid by using connectivity (V2V, V2I, V2X) as part of the Next Generation Energy Technologies for Connected and Automated on-Road Vehicles (NEXTCAR) program. The energy consumption gains were achieved by a combination of vehicle dynamics and powertrain control algorithms with a focus on SAE L1 and L2 automated vehicles where a human is still responsible for safe operation. SwRI is now involved in NEXTCAR-II, focusing on energy-efficient control tech for SAE Level 4/5 automated vehicles, aiming for a 30% energy reduction compared to stock hybrids. The rise of Mobility as a Service (MaaS) is driving investments in L4 and L5 automated vehicles. A study by the University of Michigan shows these vehicles might increase energy use and emissions by 3-20%. Technology similar to NEXTCAR can enhance energy efficiency in highly automated vehicles, leveraging improved sensing and actuation capabilities. While the NEXTCAR programs targeted energy efficiency improvements for a single vehicle, this program adopts a more expansive approach. It places its focus on understanding and testing the cumulative effects within a region or corridor, aiming to assess how a subset of vehicles equipped with NEXTCAR-style technologies influence the overall energy consumption of all vehicles traveling within that area. Additionally, the program explores infrastructure-based mobility solutions to optimize efficiency, and seeks to understand and quantify public perception and likelihood of technology adoption.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2026

Optimization-based approaches to control of connected and automated vehicles: Principles, complexities, applications, challenges, and outlook

Safe and optimal motion control for connected and automated vehicles (CAVs) poses a fundamental optimization challenge at the intersection of system complexity, environmental uncertainty, and stringent real-time constraints. Existing surveys address this challenge in isolation – focusing either on specific control techniques or individual uncertainty sources – without providing a unified framework that characterizes the trade-offs among computational tractability, performance verifiability, and adaptive generalization across paradigms. This review addresses that gap by presenting a cohesive analytical framework concentrated on the decision-making and trajectory optimization layers of the CAV autonomy stack. We systematically analyze three major optimization paradigms – first-principles model-based optimization, data-driven methods, and hybrid synergistic architectures – evaluating each against four core complexity axes: problem formulation, constraint handling, optimality guarantees, and robustness. Key applications including platooning, trajectory planning, collision avoidance, and cooperative control are examined to reveal recurring methodological patterns and critical operational constraints that limit real-world performance. Our synthesis identifies verifiable hybrid architectures, incentive-aligned multi-agent cooperation, and hardware-algorithm co-design as the defining research frontiers, and distills a targeted agenda for developing CAV control systems that are simultaneously safe, computationally efficient, and deployable in the full complexity of real-world traffic environments.

Muzahid, Abu Jafar Md [University of Tennessee, Kn↗
DOE OSTI2025

Optimizing on-ramp merging for connected and automated vehicles: A hierarchical approach using deep reinforcement learning and optimal control

On-ramp merging for Connected and Automated Vehicles (CAVs) presents significant challenges in dynamic traffic environments. Traditional methods and recent learning-based approaches often fail to simultaneously address decision-making complexity and execution precision under fluctuating conditions. This study introduces a novel hierarchical framework that combines: (1) a high-level Deep Reinforcement Learning (DRL) module that coordinates merging sequences through Virtual Traffic Signals (VTS) with Yield/Green phases and (2) a low-level optimal controller generating collision-free speed trajectories via pseudospectral convex optimization. A convolutional autoencoder compresses high-dimensional traffic states to enhance responsiveness. Extensive simulations demonstrate a 12.5% improvement in mainline throughput a 28% reduction in emergency braking events, and 31.66% lower fuel consumption compared to baseline methods. Furthermore, the framework’s effectiveness in coordinating CAV merges highlights its potential for real-world deployment. Future work will extend validation to multi-lane scenarios with mixed traffic and large-scale multiple merging points.

Connected and automated vehicles↗
DOE OSTI2023

Exploring Microsimulation Process for Energy Impact Evaluation of Connected and Automated Vehicles

In this paper, the authors present a microsimulation-based methodological approach for evaluating the energy impact of connected and automated vehicles (CAVs). They use an open-source micro-simulator, SUMO, and provide a way to set up a simulation environment that emulates real-world traffic dynamics. They also employ the Intelligent Driver Model to represent human drivers and calibrate its driving behavior using real-world traffic data and driving statistics. The authors conduct extensive simulation studies considering different penetration rates of CAVs, different car-following models, and varying car-following model parameters. Using the state-of-the-art Future Automotive System Technology Simulator (FASTSim), they estimate the fuel economy of each vehicle and analyze the energy impact of the given CAV implementation. Finally, the authors analyze the possible factors affecting the simulation results, and also discuss limitations and future work.

ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2022

Real-Time On-Ramp Merging Control of Connected and Automated Vehicles using Pseudospectral Convex Optimization

Highway on-ramp merging can be a challenging task for human drivers due to the complex vehicle negotiations and interactions in limited time and space. Connected and automated vehicles (CAVs) have great potential to address the problem and offer many benefits in terms of safety, traffic efficiency, and fuel economy. However, real-time optimal control of CAVs still faces many challenges, including nonlinear dynamics, complex inter-vehicle interactions, and a highly dynamic and uncertain traffic environment. To address these challenges, we develop a novel control approach that balances the solution optimality and computational efficiency to determine optimal merging speed profiles in real time. Specifically, by employing a pseudospectral method and a sequential convex programming approach, two algorithms are proposed and implemented within the model predictive control (MPC) framework to enable real-time generation of optimal solutions for potential on-vehicle applications. The convergence and optimality of the proposed algorithms are validated by comparing with a general-purpose solver under different traffic scenarios.

Shi, Yang↗
DOE OSTI2021

Evaluate the System-Level Impact of Connected and Automated Vehicles Coupled with Shared Mobility: An Agent-based Simulation Approach

With the rapid growth of information and communication technologies, Connected and Automated Vehicles (CAVs) are deemed to be disruptive with the potential to significantly improve overall transportation system efficiency, however, may bring Vehicle Miles Traveled (VMT) increase or other issues. Further, shared mobility systems are another disruptive force that is reshaping our travel patterns. To quantify the combined impact of CAV and shared mobility on travel behavior, traffic performance and energy efficiency, we develop a mesoscopic simulation-based framework for mobility and energy efficiency evaluation considering the disruptive transportation technologies. Under this framework, we develop novel models for energy intensity and modal activity, and evaluated a variety of energy scenarios for different combinations of CAV applications, various levels of automation, roadway characteristics, and traffic conditions, while also varying different vehicle types and fuel/powertrain technologies. Based applying this modeling suite to a calibrated BEAM simulation network in Riverside California, it was found that cooperative automated driving in general will improve mobility, but automated vehicles, even when deployed in a shared autonomous fleet, will likely bring an increase of VMT (up to 36%) due to mode shifts and deadheading. Ride-hailing vehicles typically have better energy efficiency and a higher share of electric vehicles, which helps offset the negative impact from VMT increases when estimating the system-level energy consumption. In general, simulation results show a 6% increase in energy consumption for the scenarios with an increasing shift to ride-hailing modes.

42 ENGINEERING↗