VRU-Aware GLOSA: Integrating VRUs into Green Light Optimized Speed Advisory for Right-Turn...

Urban signalized intersections remain safety-critical despite phase-based control, particularly in scenarios where right-turning vehicles and straight-going Vulnerable Road Users (VRUs) approach from the same direction and may enter a shared conflict area with overlapping arrival times. This risk is amplified by the increasing prevalence of electric bicycles, whose higher speeds and accelerations reduce the available reaction time. Green Light Optimized Speed Advisory (GLOSA) can improve efficiency by coordinating vehicle approach speeds with Signal Phase and Timing~(SPaT), but conventional implementations are largely vehicle-centric and do not explicitly manage VRU conflicts. This paper presents a VRU-aware GLOSA that augments classical SPaT-based speed advice with a conflict-aware safety overlay. We evaluate three strategies in SUMO: baseline (no advisory), classical queue-compensated GLOSA, and VRU-aware GLOSA. The simulation is based on a digital twin of a real-world signalized intersection in Ingolstadt, Germany. Results demonstrate that VRU-aware GLOSA successfully improves safety by reducing conflicts and increasing temporal gaps, while also enhancing traffic flow through fewer vehicle stops across diverse bicycle types and riding styles. -- Title: VRU-Aware GLOSA: Integrating VRUs into Green Light Optimized Speed Advisory for Right-Turn Conflicts at Signalized Intersections Presenter: Pushkar Mahajan Authors: Pushkar Mahajan, Anna-Lena Schlamp and Stefanie Schmidtner