Modelling and Simulation of Speed Guidance of Multi-Intersection in a Connected Vehicle Environment

In this paper, we design a cooperative speed guidance algorithm for the connected vehicles going through several continuous intersections to minimize vehicles’ delay or stopping time in the environment of connected vehicles. Using the vehicle’s position, speed, and real-time traffic signal information (signal light’s color and its’ remaining time) obtained by communication of infrastructure to connected vehicle, speed advisory system can produce an optimal speed value for vehicle (to accelerate to reduce delays or decelerate to reduce stopping time) with the algorithm when the connected vehicle enters a certain range of the first intersection. When the vehicle enters a certain range of the next intersection, speed advisory system does not calculate advisory speed (to avoid frequent changes in vehicle speed) if the vehicle can pass through the intersection at the limited maximum speed without any stop, otherwise, the speed advisory system produces an optimal speed (to reduce stopping time) using information of vehicle and traffic signal like when the vehicle enters the first intersection. Speed guidance of vehicle in rest intersections is same as mentioned above. Several simulation scenarios were established to test the proposed speed guidance strategy in the connected vehicle environment. Results show that improvements in efficiency and emission are obvious, however, safety has a slight decrease. A sensitivity analysis was conducted to compare the performance of different percentages of connected vehicles and the compliance rate of advisory speed, it was found that improvements of higher penetration rate and compliance rate are more obvious.