Effects of connected autonomous vehicles on the energy performance of signal-controlled junctionsEffects of connected autonomous vehicles on the energy performance of signal-controlled junctions Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2025-07-152023enThis study proposes an optimal control method for connected autonomous vehicles (CAVs) through signalized intersections to reduce the energy consumption of mixed human-driven vehicles (HDVs) and CAV traffic. A real-time optimal control model was developed to optimize the trajectory of each CAV by minimizing energy consumption during the control period while ensuring traffic efficiency and safety. The control conditions of the CAVs were analyzed under different driving scenarios considering the impact of signal phase timing and preceding vehicles. Additionally, a method is proposed for CAVs to guide other vehicles directly and reduce the energy consumption of the entire signalized intersection. Simulation experiments using MATLAB and SUMO were conducted to evaluate the performance of the proposed method under various traffic conditions, such as different levels of saturation, market penetration rates (MPRs), and the green ratio. The performance was measured using average energy consumption and an average time delay. The results show that the proposed method can effectively reduce vehicle energy consumption without compromising traffic efficiency under various conditions. Moreover, under traffic saturation, the proposed method performs better at a high MPR and green ratio, especially at 40–60% MPR.This research was supported in part by the EC H2020 Project (690713).http://creativecommons.org/licenses/by/4.0/Sustainability157Wen_et_al_Sustainability_15(7)_2023.pdfChania [Greece]Library of TUC2025-07-15application/pdf9.9 MBfree Wen Yiqing Wang Yibing Zhang Zhao Wu Jiaxin Zhong Liangxia Papageorgiou Markos Παπαγεωργιου Μαρκος Zheng Pengjun MDPI Connected autonomous vehicles Eco-driving method Optimal control Signalized intersections Consumption performance