This paper deals with fuel consumption prediction based on vehicle velocity, acceleration, and road slope time series inputs. Several data-driven models are considered for this purpose, including linear regression models and neural network-based ones. The emphasis is on accounting for the road slope impact when forming the model inputs, in order to improve the prediction accuracy. A particular focus is devoted to conversion of length-varying driving cycles into fixed dimension inputs suitable for neural networks. The proposed prediction algorithms are parameterized and tested based on GPS- and CAN-based tracking data recorded on a number of city buses during their regular operation. The test results demonstrate that proposed neural network-based approach provides a favorable prediction accuracy and reasonable execution speed, thus making it suitable for various applications such as vehicle routing optimization, driving cycle validation, transport planning and similar.

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