“…At present, in the eco-driving strategy, when considering the impact of slope on energy consumption, the optimization algorithm mainly adopts PMP [ 43 , 48 , 49 , 50 , 51 ], DP [ 44 , 46 , 52 ], and MPC [ 19 , 44 ]. The research objects are mainly heavy trucks and buses [ 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 51 , 52 ] because the impact of slope on energy consumption is significant for vehicles with a large mass. The above analysis shows that the impact of slope on this heavy vehicle is about 2.5% to 5%, which is relatively small compared to the impact of other factors on vehicle fuel economy.…”