Compared with traditional status, traffic stream under dynamic speed control has some different characteristics because of its distinctive communication mode, which are promoting a series of reviews toward current theories. This paper demonstrates how single and average vehicle delays are estimated under a dynamic speed control based intersection, with pre-timed signal control. Firstly, the research proposes a dynamic speed control algorithm based upon a car-following model under the Cooperative Vehicle Infrastructure Systems based environment. After that, the authors utilize the Kinematic theory and a recursive function to calculate delay of every single vehicle in a platoon. And then, an algorithm is advanced to estimate the average vehicle delay. It is found that the trajectory of a vehicle passing the intersection is dependent on the traffic status of the one ahead. Once the traffic variables of the first vehicle are obtained, average delay and single delay of all vehicles in a platoon can be calculated. Finally, an example is given to validate the superiority under dynamic speed guidance than the traditional environment. It is clear that with the increase of proportion of intelligent vehicles, average delay under low volume has no obvious reduction. While over high volume, a significant decline is appeared.
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