A driving guidance strategy with pre-stop line at signalized intersection: Collaborative optimization of capacity and fuel consumption

Signalized intersection is the primary bottleneck in an urban traffic system. This paper developed a driving guidance strategy at isolated signalized intersection by considering the pre-stop line from the perspective of cooperation driving, speed guidance, and optimization control method. First, the pre-stop line and pre-signal light are set up to regulate and guide the driving trajectory of Human Vehicles (HVs). Then, the cooperative driving strategy is proposed for heterogeneous traffic flow composed of Connected Automatic Vehicles (CAVs) and HVs. The effect of CAVs market penetration rate on the signalized intersection capacity is also analysed. Finally, based on Gauss Pseudospectral OPtimization software (GPOPs), a multi-stage optimal control model is proposed according to the variations of vehicle trajectories at the pre-stop line. In the numerical experiments, a reasonable pre-signal timing scheme and position of pre-stop line are obtained by optimizing the sub-stages, and then the optimal fuel consumption trajectory of CAVs is obtained by overall optimization. Both theoretical analysis and numerical simulation show that the proposed multi-stage optimal control model can effectively realize the collaborative optimization of capacity and vehicle fuel consumption at signalized intersections under the driving guide strategy with pre-stop line.