An Intelligent Speed Guidance for the CAVs at Signalized Intersection under New Generation of Mixed Traffic Based on Improved Trigonometric Functions

For the new generation of mixed traffic signal intersections composed of connected automated vehicles (CAVs) and human-driven vehicles (HDVs), an improved CAVs speed guidance strategy based on Cooperative Vehicle Infrastructure System (CVIS) is proposed. First, three guidance zones are set based on vehicle operating characteristics at signal intersections. Meanwhile, preconditions and safety constraints are set for a lane change. Then, the following model is set to three scenarios according to whether the CAV is a leader and whether the leading vehicle is stationary. Next, the kinematic formula and the improved trigonometric functions are combined to complete speed guidance. Finally, the simulation is carried out based on SUMO with the CAV’s speed and no-speed guidance for different CAV penetration rates of the CAVs. The results show that the proposed speed guidance can shorten vehicles’ duration by 9.3% and reduce the waiting count by 84% under high CAV MPRs.