Modern battery electric vehicles (BEV) have increased their available driving range through various system design parameters including higher energy density battery technology, increased battery energy storage capacity, vehicle weight reduction, aerodynamic efficiency improvement, traction drive optimization, etc. Increasing the driving range and elimination of range anxiety is key to the consumer’s ultimate acceptance of battery electric vehicles. Advancements and integration of autonomous driving capabilities and vehicle connectivity for a Connected Autonomous Vehicle (CAV) allow for further driving range extension. Predictive vehicle energy management strategies are made possible by incorporating the autonomous driving vehicle trajectory planning as well as connected static and dynamic vehicle environment data from an eHorizon system. Additional benefits include improved accuracy in driving range estimation. Today’s autonomous driving strategies do not account for the propulsion system’s efficiency or future propulsion capability for vehicle path planning. An integrated system approach for highly efficient autonomous driving is outlined by incorporating the propulsion system efficiency and capability upfront for propulsion efficient vehicle path planning. Addition of vehicle connectivity via an eHorizon system with static and dynamic vehicle environment data integrated with existing ADAS sensor data allows for an enhanced vehicle environmental model. The eHorizon’s static and dynamic vehicle environment data are also used by the propulsion system for efficient connected energy management control for traffic light, road grade/curve and vehicle deceleration driving scenarios. The fusion of autonomous driving vehicle path planning and vehicle connectivity via an eHorizon system in a CAV offers a system optimized approach for highly efficient BEV control with increased range.