  Given the increasing popularity and demand for connected and autonomous
vehicles (CAVs), Eco-driving and platooning in highways and urban areas to
increase the efficiency of the traffic system is becoming a possibility. This
paper presents Eco-driving trajectory planning for a platoon of heterogeneous
electric vehicles (EVs) in urban environments. The proposed control strategy
for the platoon considers energy consumption, mobility and passenger comfort,
with which vehicles may pass signalized intersections with no stops. For a
given urban route, first, the platoon's leader vehicle employs dynamic
programming (DP) to plan a trajectory for the anticipated path with the aim of
balancing energy consumption, mobility and passenger comfort. Then, every other
following CAV in the platoon either follows its preceding vehicle using a
PID-based cooperative adaptive cruise control or plans its own trajectory by
checking whether it can pass the next intersection without stopping.
Furthermore, a heavy-duty vehicle that cannot efficiently follow a light-weight
vehicle would instead employ the DP-based trajectory planner. Simulation
studies demonstrate the efficacy of the proposed control strategy with which
the platoon's energy consumption is shown to reduce while the mobility is not
compromised.
