Abstract: This paper aims at realizing economic speed programming in the lanechange process of intelligent vehicles. Based on transient fuel consumption model, vehicle dynamics model and the road curvature information in the process of lanechange, the trajectory of vehicle with economic speed is obtained by using dynamic programming algorithm. The results of Matlab/Simulink and CarSim cosimulation show that compared with cruise control algorithm, dynamic programming algorithm can reduce fuel consumption by around 8%. The adoption of the technique proposed can enhance fuel economy while assuring the safe driving of intelligent vehicle, providing the decisionmaking basis of speed control in the lanechange process of intelligent vehicles.

Key words:  intelligent vehicle, lane change maneuvers, economic speed, fuel consumption model, dynamic programming