A New Integrated Signal-Constrained Optimal Velocity Method for Mixed-Traffic Flow in a Connected-Vehicle Environment

Abstract

In signalized urban road networks, periodic signal phase switching is a key factor influencing traffic-flow stability and operational efficiency. With the rapid development of Connected and Automated Vehicle (CAV) technologies, exploiting their enhanced perception, communication, and cooperative control capabilities has become an important research topic. To characterize the acceleration, deceleration, queueing, and discharge disturbances induced by signal phase transitions, this study proposes a Signal-Constrained Optimal Velocity Model (SC-OVM). By introducing a continuous signal decision function, the proposed model dynamically couples traffic signal states with vehicle-following behavior, including preceding-vehicle following and stop-line tracking within a unified optimal-velocity framework. Furthermore, linear stability analysis, boundary critical condition analysis, and disturbance probability modeling are integrated to reveal the instability mechanism caused by abrupt signal phase transitions, with extensions to stochastic prediction errors and adaptive Signal Phase and Timing (SPaT) inputs. Numerical simulations show that SC-OVM-controlled CAVs can smooth vehicle trajectories, reduce average delay, improve end-of-green passing performance, and achieve a balanced performance in efficiency, stability, and safety compared with the Full Velocity Difference Model (FVDM), Virtual Leading Vehicle model (VLV), and Intelligent Driver Model (IDM). The findings provide theoretical support and practical insights for stability modeling and cooperative control of mixed-traffic flow at signalized intersections.