Collaborative optimization of intersection signals and speed guidance for buses run on overlapping route segments under connected environment

In order to reduce bus bunching in overlapping route segments and improve the efficiency of bus operation, a dynamic scheduling model is proposed to adjust bus operation states by adopting a cooperative strategy involving multi-line bus timetable optimization, arterial signal control, and speed guidance. Based on mixed integer linear programming, an arterial signal coordination model with autonomous public transport vehicles (APTVs) dedicated lanes is developed, which enables APTVs to pass through intersections without stopping under conditions that almost have no effect on regular vehicles (RVs). Based on this, a speed guidance strategy of APTVs under connected environment is proposed. After guiding APTVs into the overlapping route segments at a reasonable interval, the optimization goal of maintaining the independent running headway of each bus line to the maximum extent is realized. The simulation verification based on three actual overlapping lines in Hangzhou shows that only the combination of signal coordination considering the characteristics of APTVs and speed guidance can realize the full benefits of bus operation based on dedicated APTVs lane.