Developing and Testing a Smart City Signalized Eco-Cooperative Adaptive Cruise Control System

This paper develops an Eco-Cooperative Adaptive Cruise Control system at signalized Intersections (Eco-CACC-I) and tests it on a single signalized intersection to quantify system-level performance across different vehicle powertrains (internal combustion engine vehicles (ICEVs), battery electric vehicles (BEVs), and hybrid electric vehicles (HEVs)), congestion levels (volume-to-capacity ratios of 0.25, 0.50, 0.75, and 1.00), and connected automated vehicle (CAV) market penetration rates (MPRs) (10%, 20%, …, 90%, 100%). Since the fuel/energy consumption patterns for ICEVs, BEVs, and HEVs differ significantly with respect to driving cycles, this study selects appropriate fuel/energy consumption models for each vehicle powertrain. The proposed vehicle speed controller computes energy-optimized trajectories to assist vehicles in traversing signalized intersections. A single signalized intersection is simulated using the microscopic simulation software INTEGRATION to systematically test the performance of the Eco-CACC-I system for different combinations of factors (powertrain, congestion level, CAV MPR). The test results demonstrate that the proposed vehicle speed controller produces up to 18.9%, 23.8%, and 9.0% fuel/energy savings for ICEVs, BEVs, and HEVs, respectively. Vehicle complete stops are greatly reduced by 85.6% to 100%. Total delays are reduced by up to 40.6%, 6.7%, and 36.7% for ICEVs, BEVs, and HEVs, respectively. Additionally, tests with various CAV MPRs show that fuel/energy savings increase with higher MPR rates under different traffic demand levels.