Developing and Testing an ECO-Cooperative Adaptive Cruise Control System for Buses

Author/Creator ORCID




Urban Mobility & Equity Center


Citation of Original Publication



Studies over the past decade have shown that eco-driving systems which provide speed advisories to drivers/vehicles using data received via vehicle-to-infrastructure and vehicle-to-vehicle communications can help improve traffic mobility and reduce vehicle energy and emission levels. This study extends the Eco-Cooperative Adaptive Cruise Control (Eco-CACC) system previously developed for light duty vehicles to heavy duty vehicles (diesel and hybrid electric buses). First, the energy consumption models for diesel and hybrid buses are discussed and the field data collected by Blacksburg Transit are used to calibrate bus models. Thereafter, the bus Eco-CACC system is developed by incorporating the vehicle dynamic model and energy consumption model for buses. The developed Eco-CACC system has manual and automated modes to control buses. The manual Eco-CACC mode was tested by participants using driving simulators at Morgan State University under various scenarios that included different types of information. In addition, the automated bus Eco-CACC system was tested using the INTEGRATION microscopic simulation software to quantify the system-wide impacts of the proposed system under various traffic demand and vehicle types. The test results demonstrated that the proposed system could improve transit operations by reducing delay and helping transit agencies save on energy costs, resulting in an improved transit level of service, increased ridership, and improved traffic mobility.