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Human-driving behavior at signalized intersections may lack efficiency because drivers try to reach their desired speed without the upcoming traffic-signal information. This causes idling time, sharp accelerations, hard braking, traffic congestion, emissions, and energy consumption. Connected vehicles, for example those equipped with a speed advisory system (SAS), can provide prior information to drivers for optimizing their driving behavior while approaching signalized intersections. However, the current literature focuses only on the fuel consumption, emissions, and travel-delay reduction impacts of SASs. This paper evaluates the safety impact of SAS vehicles using the proposed approach that simulates mixed-traffic situations between SAS and human-driven vehicles (HDVs). HDVs in the model follow real vehicle trajectories based on car-following conditions. The study investigates various scenarios including the …