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Hybrid electric vehicles (HEVs) provide a promising alternative to conventional engine‐powered vehicles, with less emission and better fuel economy. This study proposes a hierarchical control for a power‐split HEV over a driving cycle, featuring pre‐trip optimisation and en‐route speed adaption. Constraints including vehicle powertrain boundaries, road gradients, and speed limits, are taken into consideration. In the first stage, the HEV operating conditions, including the optimal vehicle SOC, speed profiles, and total driving time, are generated for the entire trip before departure. Based on the pre‐trip results, the second stage adapts the vehicle speed for a short horizon when driving, while taking the safety spacing to the preceding vehicle into consideration, which acts as an indicator of actual traffic conditions and guarantees safe driving. Both optimisations are conducted under the distance domain for realising localisation in the optimal speed profile due to frequent changes in traffic conditions. An estimation of distribution algorithm is used to run the simulation so that the feasibility, robustness, and effectiveness of the proposed hierarchical control can be demonstrated. [ABSTRACT FROM AUTHOR]