A hierarchical speed optimization strategy for connected automated vehicles at signalized intersection

The rapid development of autonomous driving technology has brought new opportunities to improve driving safety and traffic environment. Continuous intersection traffic, not only hinder the operation of the traffic environment, and the loss of vehicle fuel efficiency, is not conducive to the development of energy. This paper proposes a layered velocity optimization strategy (HSO) to improve fuel efficiency and reduce pollutant emissions. First, build the upper level controller and calculate the feasible speed. Then, under the constraint conditions, the lower controller tracks the feasible speed and obtains the optimal speed. Finally, different driving scenarios were built in Prescan and Simulink to verify the effectiveness of HSO. Simulation results show that the strategy is effective under different driving conditions.