Eco-routing problem considering fuel consumption and probabilistic travel time budget

Road transportation is one of the major sources of greenhouse gas emissions. To reduce energy consumption and alleviate this environmental problem, this study aims to develop an eco-routing algorithm for navigation systems. Considering that both fuel consumption and travel time are important factors when planning a trip, the proposed routing algorithm finds a path that consumes the minimum amount of gasoline while ensuring that the travel time satisfies a specified travel time budget and an on-time arrival probability. We first develop link-based fuel consumption models based on vehicle dynamics, and then the Lagrangian-relaxation-based heuristic approach is proposed to efficiently solve this NP-hard problem. The performance of the proposed eco-routing strategy is verified in a large-scale network with real travel time and fuel consumption data. Specifically, a sensitivity analysis of fuel consumption reduction for travel demand and travel time buffer is discussed in our simulation study.     

Are vehicle trajectories simulated by dynamic traffic models relevant for estimating fuel consumption?

This paper questions the relevance of microscopic traffic models for estimating the impact of traffic strategies on fuel consumption. Urban driving cycles from the ARTEMIS database are simplified into piecewise linear speed profiles to mimic the classical outputs of microscopic traffic flow models. Fuel consumption is estimated for real and simplified trajectories and links between kinematics and the fuel consumption errors are investigated. Simplifying trajectories causes fuel consumption underestimation, from −1.2 to −5.2% on average according to the level of simplification; errors can approach −20% for some cycles. A focus on kinematic phases indicates that the maximum speed reached and the time decelerating are the main influences on fuel consumption. Finally, in the case where maximum speeds are estimated correctly, it is shown that errors committed at each kinematic phase when acceleration distributions are approximated by their mean values, converge towards small errors over complete cycles. A method is developed to quantify and reduce these errors.     

Data-driven fuel consumption estimation: A multivariate adaptive regression spline approach

Providing guidance and information to drivers to help them make fuel-efficient route choices remains an important and effective strategy in the near term to reduce fuel consumption from the transportation sector. One key component in implementing this strategy is a fuel-consumption estimation model. In this paper, we developed a mesoscopic fuel consumption estimation model that can be implemented into an eco-routing system. Our proposed model presents a framework that utilizes large-scale, real-world driving data, clusters road links by free-flow speed and fits one statistical model for each of cluster. This model includes predicting variables that were rarely or never considered before, such as free-flow speed and number of lanes. We applied the model to a real-world driving data set based on a global positioning system travel survey in the Philadelphia-Camden-Trenton metropolitan area. Results from the statistical analyses indicate that the independent variables we chose influence the fuel consumption rates of vehicles. But the magnitude and direction of the influences are dependent on the type of road links, specifically free-flow speeds of links. A statistical diagnostic is conducted to ensure the validity of the models and results. Although the real-world driving data we used to develop statistical relationships are specific to one region, the framework we developed can be easily adjusted and used to explore the fuel consumption relationship in other regions.     

Can feedback from in-vehicle data recorders improve driver behavior and reduce fuel consumption?

This paper evaluates the effectiveness of feedback, based on In-Vehicle Data Recorders (IVDR), to improve driving behavior, increase driving safety, and reduce fuel consumption. We developed a framework for driving-behavior measurement, incorporating second-by-second data collected by IVDRs. IVDR units were installed in over 150 vehicles driven by more than 350 drivers for over a year. The experiment was divided into three stages. The first stage was a “blind”, control stage, with no feedback. The second stage incorporated verbal feedback given only to riskiest drivers. In the third stage all drivers received a bi-weekly written report about their driving performance. Safety events, such as braking, lateral acceleration or speeding, were recorded. Supplementary data regarding safety related events and fuel consumption were also collected. Safety incidents and fuel consumption were modeled as a function of IVDR measurement-based events, in order to identify which events best reflect safety incidents and excessive fuel consumption. Our results show that braking events best explain safety incidents, and all events together best explain fuel consumption. In addition, we found that for the riskiest drivers, feedback significantly reduced the IVDR events. Our models show that feedback can lead to a reduction of 8% in safety incidents, and 3–10% in fuel consumption, with a larger reduction obtained for large vehicles.     

Modeling of individual vehicle safety and fuel consumption under comprehensive external conditions

This research intends to explore external factors affecting driving safety and fuel consumption, and build a risk and fuel consumption prediction model for individual drivers based on natural driving data. Based on 120 taxi drivers’ natural driving data during 4 months, driving behavior data under various conditions of the roadway, traffic, weather, and time of day are extracted. The driver's fuel consumption is directly collected by the on-board diagnostics (OBD) unit, and safety index is calculated based on Data Threshold Violations (DTV) and Phase Plane Analysis with Limits (PPAL) considering speed, longitudinal and lateral acceleration. By using a linear mixed model explaining the fixed effect of the external conditions and the random effect of the driver, the influences of various external factors on fuel consumption and safety are analyzed and discussed. The prediction model lays a foundation for drivers' fuel consumption and risk prediction in different external conditions, which could help improve individual driving behavior for the benefit of both fuel consumption and safety.     

Fast computing and approximate fuel consumption modeling for Internal Combustion Engine passenger cars

This article presents a fuel consumption model, SEFUM (Semi Empirical Fuel Use Modeling), and its comparison with three models from the literature on a 600 km experimental database. This model is easy to calibrate with only a few required parameters that are provided by car manufacturers. The test database has been built from 21 drivers who drove in two conditions (normal and ecodriving) on a 15 km trip. For the model evaluation, three indicators have been selected: instantaneous fuel use root mean square error, cumulated error and computation time in order to evaluate the accuracy both in cumulated and instantaneous fuel use and to estimate computation time of each model. Results tend to prove that the model is able to compute rapidly (maximum of 1500 simulated kilometers under Matlab) in comparison to all other models while ensuring a high accuracy and precision for cumulated and instantaneous fuel use.     

Experimental testing and simulations of speed variations impact on fuel consumption of conventional gasoline passenger cars

Speed variations are considered as an alternative for reducing fuel consumption during the use phase of passenger cars. It explores vehicle engine operating zones with lower fuel consumption, thus making possible a reduction in fuel consumption when compared to constant speed operation. In this paper, we present an evaluation of two conditions of speed variations: 50–70 km/h and 90–110 km/h using numerical simulations and controlled tests. The controlled tests performed on a test track by a professional pilot show that a reduction in fuel consumption is achievable with a conventional gasoline passenger car, with no adaptations for realizing speed variations. Numerical simulations based on a backward quasi-static powertrain model are used to evaluate the potential of speed variations for reducing fuel consumption in other speed variation conditions. When deceleration is performed with gear in neutral position, simulations show that speed variations are always correlated to a lower fuel consumption. This was suspected through previous numerical tests or evaluation on test bench but not in controlled tests conditions.     

Time to burn: Flight delay,terminal efficiency,and fuel consumption in the National Airspace System

Improved Air Traffic Management (ATM) leading to reduced en route and gate delay, greater predictability in flight planning, and reduced terminal inefficiencies has a role to play in reducing aviation fuel consumption. Air navigation service providers are working to quantify this role to help prioritize and justify ATM modernization efforts. In the following study we analyze actual flight-level fuel consumption data reported by a major U.S. based airline to study the possible fuel savings from ATM improvements that allow flights to better adhere to their planned trajectories both en route and in the terminal area. To do so we isolate the contribution of airborne delay, departure delay, excess planned flight time, and terminal area inefficiencies on fuel consumption using econometric techniques. The model results indicate that, for two commonly operated aircraft types, the system-wide averages of flight fuel consumption attributed to ATM delay and terminal inefficiencies are 1.0–1.5% and 1.5–4.5%, respectively. We quantify the fuel impact of predicted delay to be 10–20% that of unanticipated delay, reinforcing the role of flight plan predictability in reducing fuel consumption. We rank terminal areas by quantifying a Terminal Inefficiency metric based on the variation in terminal area fuel consumed across flights. Our results help prioritize ATM modernization investments by quantifying the trade-offs in planned and unplanned delays and identifying terminal areas with high potential for improvement.     

Does traffic-related calibration of car-following models provide accurate estimations of vehicle emissions?

Fuel consumption or pollutant emissions can be assessed by coupling a microscopic traffic flow model with an instantaneous emission model. Traffic models are usually calibrated using goodness of fit indicators related to the traffic behavior. Thus, this paper investigates how such a calibration influences the accuracy of fuel consumption and NOx and PM estimations. Two traffic models are investigated: Newell and Gipps. It appears that the Gipps model provides the closest simulated trajectories when compared to real ones. Interestingly, a reverse ranking is observed for fuel consumption, NOx and PM emissions. For both models, the emissions of single vehicles are very sensitive to the calibration. This is confirmed by a global sensitivity analysis of the Gipps model that shows that non-optimal parameters significantly increase the variance of the outputs. Fortunately, this is no longer the case when emissions are calculated for a group of many vehicles. Indeed, the mean errors for platoons are close to 10% for the Gipps model and always lower than 4% for the Newell model. Another interesting property is that optimal parameters for each vehicle can be replaced by the mean values with no discrepancy for the Newell model and low discrepancies for the Gipps model when calculating the different emission outputs. Finally, this study presents preliminary results that show that multi-objective calibration methods are certainly the best direction for future works on the Gipps model. Indeed, the accuracy of vehicle emissions can be highly improved with negligible counterparts on the traffic model accuracy.     

Stop-and-go traffic analysis: Theoretical properties,environmental impacts and oscillation mitigation

This study aims (i) to analyze theoretical properties of a recently proposed describing-function (DF) based approach (Li and Ouyang, 2011; Li et al., 2012) for traffic oscillation quantification, (ii) to adapt it for estimating fuel consumption and emission from traffic oscillation and (iii) to explore vehicle control strategies of smoothing traffic with advanced technologies. The DF approach was developed to predict traffic oscillation propagation across a platoon of vehicles following each other by a nonlinear car-following law with only the leading vehicle’s input. We first simplify the DF approach and prove a set of properties (e.g., existence and uniqueness of its solution) that assure its prediction is always consistent with observed traffic oscillation patterns. Then we integrate the DF approach with existing estimation models of fuel consumption and emission to analytically predict environmental impacts (i.e., unit-distance fuel consumption and emission) from traffic oscillation. The prediction results by the DF approach are validated with both computer simulation and field measurements. Further, we explore how to utilize advantageous features of emerging sensing, communication and control technologies, such as fast response and information sharing, to smooth traffic oscillation and reduce its environmental impacts. We extend the studied car-following law to incorporate these features and apply the DF approach to demonstrate how these features can help dampen the growth of oscillation and environmental impact measurements. For information sharing, we convert the corresponding extended car-following law into a new fixed point problem and propose a simple bisecting based algorithm to efficiently solve it. Numerical experiments show that these new car-following control strategies can effectively suppress development of oscillation amplitude and consequently mitigate fuel consumption and emission.     

A new offline optimization approach for designing a fuel cell hybrid bus

In this study a hydrogen powered fuel cell hybrid bus is optimized in terms of the powertrain components and in terms of the energy management strategy. Firstly the vehicle is optimized aiming to minimize the cost of its powertrain components, in an official driving cycle. The optimization variables in powertrain component design are different models and sizes of fuel cells, of electric motors and controllers, and batteries. After the component design, an energy management strategy (EMS) optimization is performed in the official driving cycle and in two real measured driving cycles, aiming to minimize the fuel consumption. The EMS optimization is based on the control of the battery’s state-of-charge. The real driving cycles are representative of bus driving in urban routes within Lisbon and Oporto Portuguese cities. A real-coded genetic algorithm is developed to perform the optimization, and linked with the vehicle simulation software ADVISOR. The trade-off between cost increase and fuel consumption reduction is discussed in the lifetime of the designed bus and compared to a conventional diesel bus. Although the cost of the optimized hybrid powertrain (62,230 €) achieves 9 times the cost of a conventional diesel bus, the improved efficiency of such powertrain achieved 36% and 34% of lower energy consumption for the real driving cycles, OportoDC and LisbonDC, which can originate savings of around 0.43 €/km and 0.37 €/km respectively. The optimization methodology presented in this work, aside being an offline method, demonstrated great improvements in performance and energy consumption in real driving cycles, and can be a great advantage in the design of a hybrid vehicle.     

Assessment of hybrid‐drive bus fuel savings for Brazilian urban transit

Buses are the main transit mode in Brazil, transporting more than 55 million passengers per day. Most of these vehicles run on diesel oil causing a dependence on oil, extensive greenhouse gas emissions and increasing air pollution in urban areas. In order to improve this situation, options for Brazilian cities include the use of alternative fuels and new propulsion technologies, such as hybrid vehicles. This paper proposes a procedure for evaluating the performance of a recently developed hybrid‐drive technology. A simple procedure is presented to compare hybrid‐drive buses with conventional diesel buses in urban operations, particularly with respect to fuel economy. Next the potential for reducing diesel oil consumption through the use of hybrid‐drive buses is assessed. Field tests carried out by the authors indicate that fuel consumption improvement through the use of hybrid‐drive buses would certainly exceed 20%, resulting in lower fuel costs and carbon dioxide (CO₂) emissions.     

Estimating fuel burn impacts of taxi-out delay with implications for gate-hold benefits

The aviation community is actively investigating initiatives to reduce aircraft fuel consumption from surface operations, as surface management strategies may face fewer implementation barriers compared with en route strategies. One fuel-saving initiative for the air transportation system is the possibility of holding aircraft at the gate, or the spot, until the point at which they can taxi unimpeded to the departure runway. The extent to which gate holding strategies have financial and environmental benefits hinges on the quantity of fuel that is consumed during surface operations. A pilot of an aircraft may execute the taxi procedure on a single engine or utilize different engine thrust rates during taxi because of a delay. In the following study, we use airline fuel consumption data to estimate aircraft taxi fuel consumption rates during the “unimpeded” and “delayed” portions of taxi time. We find that the fuel consumption attributed to a minute of taxi-out delay is less than that attributed to minute of unimpeded taxi time; for some aircraft types, the fuel consumption rate for a minute of taxi delay is half of that for unimpeded taxi. It is therefore not appropriate, even for rough calculations, to apply nominal taxi fuel consumption rates to convert delayed taxi-out time into fuel burn. On average we find that eliminating taxi delay would reduce overall flight fuel consumption by about 1%. When we consider the savings on an airport-by-airport basis, we find that for some airports the potential reduction from reducing taxi delay is as much as 2%.     

Effects of driving style on the fuel consumption of city buses under different road conditions and vehicle masses

The variance in fuel consumption caused by driving style (DS) difference exceeds 10% and reaches a maximum of 20% under different road conditions, even for experienced bus drivers. To study the influence of DS on fuel consumption, a method for summarizing DS characteristic parameters on the basis of vehicle-engine combined model is proposed. With this method, the author proposes 26 DS characteristic parameters related to fuel consumption in the accelerating, normal running, and decelerating processes of vehicles. The influence of DS characteristic parameters on fuel consumption under different road conditions and vehicle masses is quantitatively analyzed on the basis of real driving data over 100,000 km. Analysis results show that the influence of DS characteristic parameters on fuel consumption changes with road condition and vehicle mass, with road condition serving a more important function. However, the DS characteristics in the accelerating process of vehicles are decisive for fuel consumption under different conditions. This study also calculates the minimum sample size necessary for analyzing the effect of DS characteristics on fuel consumption. The statistical analysis based on the real driving data over 2500 km can determine the influence of DS on fuel consumption under a given power-train configuration and road condition. The analysis results can be employed to evaluate the fuel consumption of drivers, as well as to guide the design of Driver Advisory System for Eco-driving directly.     

Development of a driving simulator based eco-driving support system

This research developed an eco-driving feedback system based on a driving simulator to support eco-driving training. This support system could provide both dynamic and static feedback to improve drivers’ eco-driving behavior. In the process of driving, drivers could get voice prompts (e.g., please avoid accelerating rapidly) once non-eco-driving behavior appeared, and also could see the real-time CO₂ emissions curves. After driving, drivers could receive an eco-driving evaluation report including their fuel consumption rank, potential of fuel saving and driving advice corresponding to their driving behavior. In this support system, five items of non-eco-driving behavior (i.e., quick accelerate, rapid decelerate, engine revolutions at a high level, too fast or unstable speed on freeways and idling for a longer time) were defined and could be detected. To validate this support system’s effectiveness in reducing fuel consumption and emissions, 22 participants were recruited and three driving tests were conducted, first without using the support system, then static feedback and then dynamic feedback utilized respectively. A reduction of 5.37% for CO₂ emissions and 5.45% for fuel consumption was obtained. The results indicated that the developed eco-driving support system was an effective training tool to improve drivers’ eco-driving behavior in reducing emissions and fuel consumption.     

Effect of mass on multimodal fuel consumption in moving people and freight in the U.S.

The United States transportation sector consumes 5 billion barrels of petroleum annually to move people and freight around the country by car, truck, train, ship and aircraft, emitting significant greenhouse gases in the process. Making the transportation system more sustainable by reducing these emissions and increasing the efficiency of this multimodal system can be achieved through several vehicle-centric strategies. We focus here on one of these strategies – reducing vehicle mass – and on collecting and developing a set of physics-based expressions to describe the effect of vehicle mass reduction on fuel consumption across transportation modes in the U.S. These expressions allow analysts to estimate fuel savings resulting from vehicle mass reductions (termed fuel reduction value, FRV), across modes, without resorting to specialized software or extensive modeling efforts, and to evaluate greenhouse gas emission and cost implications of these fuel savings. We describe how FRV differs from fuel intensity (FI) and how to properly use both of these metrics, and we provide a method to adjust FI based on mass changes and FRV. Based on this work, we estimate that a 10% vehicle mass reduction (assuming constant payload mass) results in a 2% improvement in fuel consumption for trains and light, medium, and heavy trucks, 4% for buses, and 7% for aircraft. When a 10% vehicle mass reduction is offset by an increase in an equivalent mass of payload, fuel intensity (fuel used per unit mass of payload) increases from 6% to 23%, with the largest increase being for aircraft.     

Analysis of Class 8 truck technologies for their fuel savings and economics

Non-electrification efficiency-improving technologies and powertrain technologies for reducing the heavy-duty truck fuel consumption are studied. The study indicates that improvements in engine efficiency, aerodynamic drag and rolling resistance will benefit fuel economy significantly over the day drive and over-the-road highway driving cycles; 6–13% in fuel savings can be expected from each technology. Hybridization can achieve fuel saving of 16% and is financially attractive for the day drive cycle. Compared to the baseline Class 8 conventional trucks, an improvement of 20–22% and 28–50% in fuel economy by 2020 can be expected using non-electrification efficiency-improving and a combination of non-electrification and hybrid technologies. Fuel economy improvements of a factor of four to five can be achieved by hybridizing the heavy-duty trucks used on ocean ports.     

Comparing real-world fuel consumption for diesel- and hydrogen-fueled transit buses and implication for emissions

This paper explores the influence of key factors such as speed, acceleration, and road grade on fuel consumption for diesel and hydrogen fuel cell buses under real-world operating conditions. A Vehicle Specific Power-based approach is used for modeling fuel consumption for both types of buses. To evaluate the robustness of the modeling approach, Vehicle Specific Power-based modal average fuel consumption rates are compared for diesel buses in the US and Portugal, and for the Portuguese diesel and hydrogen fuel cell buses that operate on the same route. For diesel buses there is similar intra-vehicle variability in fuel consumption using Vehicle Specific Power modes. For the fuel cell bus, the hydrogen fuel consumption rate was found to be less sensitive to Vehicle Specific Power variations and had smaller variability compared to diesel buses. Relative errors between trip fuel consumption estimates and actual fuel use, based upon predictions for a portion of real-world activity data that were not used to calibrate the models, were generally under 10% for all observations. The Vehicle Specific Power-based modeling approach is recommended for further applications as additional data become available. Emission changes based upon substituting hydrogen versus diesel buses are evaluated.     

Eco-driving: An economic or ecologic driving style?

In this work the trade-off between economic, therefore fuel saving, and ecologic, pollutant emission reducing, driving is discussed. The term eco-driving is often used to refer to a vehicle operation that minimizes energy consumption. However, for eco-driving to be environmentally friendly not only fuel consumption but also pollutant emissions should be considered. In contrast to previous studies, this paper will discuss the advantages of eco-driving with respect to improvements in fuel consumption as well as pollutant gas emissions. Simulating a conventional passenger vehicle and applying numerical trajectory optimization methods best vehicle operation for a given trip is identified. With hardware-in-the-loop testing on an engine test bench the fuel and emissions are measured. An approach to integrate pollutant emission and dynamically choose the ecologically optimal gear is proposed.     

Fuel price elasticities for single-unit truck operations in the United States

This paper provides fuel price elasticity estimates for single-unit truck activity, where single-unit trucks are defined as vehicles on a single frame with either (1) at least two axles and six tires; or (2) a gross vehicle weight greater than 10,000 lb. Using data from 1980 to 2012, this paper applies first-difference and error correction models and finds that single-unit truck activity is sensitive to certain macroeconomic and infrastructure factors (gross domestic product, lane miles expansion, and housing construction), but is not sensitive to diesel fuel prices. These results suggest that fuel price elasticities of single unit truck activity are inelastic. These results may be used by policymakers in considering policies that have a direct impact on fuel prices, or policies whose effects may be equivalent to fuel price adjustments.