  Connected and automated vehicles (CAVs) provide the most intriguing
opportunity to reduce energy consumption and travel delays. In this paper, we
propose a two-level control architecture for CAVs to optimize (1) the vehicle's
speed profile, aimed at minimizing stop-and-go driving, and (2) the powertrain
efficiency of the vehicle for the optimal speed profile derived in (1). The
proposed hierarchical control framework can be implemented onboard the vehicle
in real time with minimal computational effort. We evaluate the effectiveness
of the efficiency of the proposed architecture through simulation in Mcity
using a 100% penetration rate of CAVs. The results show that the proposed
approach yields significant benefits in terms of energy efficiency.
