Fuel economy benefit analysis of pass-at-green (PaG) V2I application on urban routes with STOP signs

In this paper, the fuel economy benefit of a vehicle-to-infrastructure (V2I) algorithm called Pass-at-Green (PaG) was analysed and compared with different speed profile characteristics. The fuel-optimal speed profile calculated offline using Dynamic Programming (DP) was used for benchmarking. Manual Driving Speed Profile was included in the analysis as the human driver. Intelligent Driver Model (IDM), whose parameters were modified to model cautious, normal and aggressive behaviour, was also used for comparison. The state-of-the-art connected and autonomous driving Hardware-in-the-loop (HIL) setup enabled the use of Electronic Horizon (eHorizon), which provided localisation and detailed map information to the simulated test vehicle. An eHorizon Informed Manual Driving speed profile, where the eHorizon HIL system provided upcoming STOP sign location information, was also modelled. The results showed that having V2I capability in the longitudinal speed control of a vehicle has potential for substantial fuel consumption reduction while navigating through signalised and non-signalised intersections.