  This paper proposes a robust optimal eco-driving control strategy considering
multiple signalized intersections with uncertain traffic signal timing. A
spatial vehicle velocity profile optimization formulation is developed to
minimize the global fuel consumption, with driving time as one state variable.
We introduce the concept of effective red-light duration (ERD), formulated as a
random variable, to describe the feasible passing time through signalized
intersections. A chance constraint is appended to the optimal control problem
to incorporate robustness with respect to uncertain signal timing. The optimal
eco-driving control problem is solved via dynamic programming (DP). Simulation
results demonstrate that the optimal eco-driving can save fuel consumption by
50-57% while maintaining arrival time at the same level, compared with a
modified intelligent driver model as the benchmark. The robust formulation
significantly reduces traffic intersection violations, in the face of uncertain
signal timing, with small sacrifice on fuel economy compared to a non-robust
approach.

Optimization and Control;Systems and Control