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The article is devoted to the study of vehicle operational efficiency in certain infrastructural environment conditions. The vehicle operational efficiency is evaluated according to dynamic, economic and environmental criteria using a mathematical model of the "Vehicle-Infrastructure" system. The mathematical model describes the main processes in the studied system: the conversion of input energy into mechanical energy of propulsion system, mechanical energy transmission to the vehicle wheels, the conversion of wheels rotation into vehicle translational motion, change of vehicle motion modes and directions according to a given motion law in certain infrastructural environment conditions. The presented structure of the mathematical model contains generalized dependences between the main parameters of the system processes and feedbacks implementing the target functions of thermal control of individual propulsion subsystems and vehicle modes to achieve the desired values of energy consumption and emissions per transport work unit. The results of vehicle operational efficiency evaluation using verified model in the implementation of individual algorithms for thermal development control of propulsion subsystems (engine and catalytic converter) in the heating mode are given.