关键词: 智能交通, 借道公交专用车道, 智能网联车, 公交优先, 混合交通

Abstract: The control of connected and automated vehicles (CAVs) driving on the dedicated bus lane is studied under mixed traffic flow with human-driven vehicles (HVs). Focusing on a dedicated bus lane between two signalized intersections, a control strategy for CAVs driving on the dedicated bus lane is proposed under the bus priority and the safety constraints of lane changing. The rules for CAV entering and leaving dedicated bus lanes are designed by the controlling prediction module. The revenue calculated by the improved model of Minimizing Overall Braking Induced by Lane Changes (MOBIL) is used as the incentive criterion when CAV enters and leaves bus lanes. The comity coefficient of the target vehicle is set to be one if the expected following vehicle is an HV. It is only necessary to meet the safety rules when a CAV must leave the bus lane to meet the bus priority. The effectiveness is validated through simulation experiments. The results indicate that the utilization efficiency of bus lanes is improved under high traffic demand. The per capita delay is reduced by 60% and 40%, respectively, and the average vehicle delay is reduced by 65% and 32%, respectively, compared with the existing control method that does not allow CAVs to enter bus lanes and the control method based on clearance distance. When the penetration rate of CAVs reaches 30% ~40% under high traffic demand, the control effect is remarkable.

Key words: intelligent transportation, driving on dedicated bus lane, connected and automated vehicles (CAVs), bus priority, mixed traffic