A Speed Guidance Strategy for Connected Autonomous Vehicle at Signalized Intersection

Abstract

Stop-and-go traffic at signalized intersections will lead to extra fuel consumption. To save fuel consumption of vehicles at intersections, a speed guidance strategy for Connected Autonomous Vehicle (CAV) at intersections was proposed in this paper. The speed guidance scenarios were divided into 6 cases according to the signal state when the vehicles entering into the intersection control area. A new S-type acceleration/deceleration speed guidance model, which took fuel minimization as an optimization objective and remaining signal time, speed limit, and acceleration limit as constraints, was proposed to guide the vehicle’s speed trajectory through the intersections. Simulation experiments of isolated intersection and five consecutive intersections were carried out. The results show that the new S-type acceleration/deceleration guidance model can save 47.4% fuel consumption compared to the non-guided model in an isolated intersection and that is 59.9% for the five consecutive intersections. So, the speed guidance strategy proposed in this paper is an effective method to save fuel consumption for vehicles passing the intersections.