This paper presents a vehicle speed guidance method based on the cooperative vehicle infrastructure system (CVIS) at signalized intersections. Firstly, three speed guidance strategies are proposed to divide the vehicles at the signalized intersection into different fleets. Secondly, we establish an improved car-following model for each guidance strategy to guide the vehicle. On this basis, numerical simulation is carried out to verify the effectiveness of the proposed strategies and model. Results demonstrate that: (1) the proposed model can effectively guide vehicles in different states to accelerate/decelerate without stopping or braking smoothly; (2) compared with existing models, the proposed model can better eliminate sudden speed changes and ensure driving safety; (3) the guidance effect of this method becomes better with the increase of the length of the speed guidance zone; and (4) this method has certain superiority in controlling fuel consumption and pollutant emission.
 

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