Predictive control techniques for ground vehicles

A ground vehicle control system comprising:

• a plurality of sensors configured to detect environment information and vehicle operating information;
• one or more predictive controllers configured to
• self-train for an energy consumption solution based on one or more control parameters including the environment information and the vehicle operating information, wherein the environment information includes one or more of current roadway topography, future roadway topography, traffic information, and traffic control device state and the vehicle operating information includes one or more of fuel map and vehicle mass;
• and
• generate one or more control signals based on the energy consumption solution for output in a vehicle control mode selected from the group consisting of an active control mode, an assist control mode, a coaching control mode, and a passive control mode.