Spatial–Temporal Reservation-Based Multi-vehicle Cooperative Speed Guidance

A multi-vehicle collaborative speed guidance method is proposed in this paper. Without considering the time and road space occupied by the vehicle ahead, the original signal status information is taken as input during speed planning. The calculated speed will cause multiple vehicles to arrive at the same desired position at the same moment, resulting in vehicles being forced to slow down and stop to avoid a collision. By building the vehicle arrival time model and safe distance model, the moment and recommended speed of each vehicle through the intersection are calculated. The SUMO + Traci simulation platform is built, and experiments show that the proposed method enables vehicles to pass through the intersection without stopping in low, medium and high traffic flow scenarios, while the average vehicle travel time is significantly reduced, reaching over 11% in both medium and high traffic flow scenarios, compared to the vehicle speed guidance method without the above models.