Gap-based automated vehicular speed guidance towards eco-driving at an unsignalized intersection

This paper develops a gap-based automated vehicular speed control algorithm towards eco-driving at an unsignalized intersection. The proposed algorithm takes the acceptable gaps as green times and unacceptable gaps as well as vehicle lengths (measured by time) as red times. It also considers the running status of the target vehicle as well as the impact of the downstream vehicles (if exist) and the dynamic gap-acceptance conditions in the real-world traffic environment. Acceleration and deceleration profiles, instead of speed trajectories, are optimized for speed guidance. Illustrative examples are provided to validate the proposed algorithm. Results indicate that the proposed control algorithm is effective to prevent conflicts at the unsignalized intersection while minimizing fuel consumption, travel times, and emission of vehicles under various test scenarios.