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SUMMARY REPORT
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Publication Number:  FHWA-HRT-18-037    Date:  September 2017
Publication Number: FHWA-HRT-18-037
Date: September 2017

 

Eco-Drive Experiment on Rolling Terrain for Fuel Consumption Optimization

Appendix

The following plots show the elevation profile with the corresponding speed command, measured speed, and speed limit for each route. The speed commands for each route were generated offline and fed to the onboard vehicle control system. The actual speed was allowed to vary by 10 mph over or under the algorithm commands to account for differences between the actual vehicle and the vehicle model. Because the maximum throttle and braking force of the longitudinal controller are limited, in cases of steep downhill or uphill the speed may have exceeded those limits. In all cases, the drivers took the road conditions into account during the experiment to maintain safety.

This graph shows the elevation profile and speed data for a section of Georgetown Pike. The x-axis plots station (m) and the y-axis shows relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road (constant at 35 mph). The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 11. Road data for Georgetown Pike from Colonial Farm Road to I–495.

This graph shows the elevation profile and speed data for George Washington Parkway Northbound. Station (m) is shown on the x-axis; the y-axis shows relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road. This is constant at 40 mph until around 5300 meters, and then constant at 50 mph for the rest of the graph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 12. Road data for George Washington Parkway Northbound from Key Bridge to I–495.

This graph shows the elevation profile and speed data for George Washington Parkway Southbound. The x-axis plots station (m); the y-axis plots relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road. This is constant at 50 mph until around 13,700 meters, when it changes to 40 mph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 13. Road data for George Washington Parkway Southbound from I–495 to Key Bridge.

This graph shows the elevation profile and speed data for River Road Northbound. The x-axis plots station (m) and the y-axis shows relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road; this varies from 30 to 50 mph over the course of the graph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 14. Road data for River Road from Seven Locks Road to Seneca Road.

This graph shows the elevation profile and speed data for River Road Southbound. The x-axis shows station (m) and the y-axis plots relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road; this varies from 30 to 50 mph over the course of the graph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 15. Road data for River Road from Seneca Road to Seven Locks Road.

This graph shows the elevation profile and speed data for US-17 Northbound. Station (m) is shown on the x-axis; the y-axis plots relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road; this is constant at 55 mph for most of the graph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 16. Road data for US–17 from US–17 Business to I–66.

This graph shows the elevation profile and speed data for US-17 Southbound. The x-axis plots station (m); the y-axis shows relative altitude (m) on the left and speed (mph) on the right. The blue solid line shows the road elevation. The black thick solid line shows the speed limit over that section of road; this is constant at 55 mph for the majority of the graph. The light blue dashed line shows the algorithm speed commands. The red dash-dot line shows the measured vehicle speed during the test. The algorithm speed commands generally line up with the elevation such that the speed increases down hills and decreases up hills. The measured speed generally follows the algorithm speed commands.

Source: FHWA
Figure 17. Road data for US–17 from I–66 to US–17 Business.

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