Deployment of autonomous driving on bus rapid transit lanes: Synergy between autonomous vehicle speed and bus timetables

This study investigates the use of autonomous vehicles in bus rapid transit lanes during the initial phases of autonomous driving development. The aim is to accelerate the advancement of autonomous driving technologies and enhance the efficiency of bus lane usage. We first develop a dynamic joint optimization model that adjusts autonomous vehicle speeds and bus timetables to minimize vehicle travel times while reducing bus passenger waiting times. We account for random variables such as stochastic passenger arrivals at bus stations and variable demand for autonomous vehicle travel by constructing a stochastic dynamic model. To address the computational challenges of large-scale scenarios, we implement a simulation-based heuristic algorithm framework. This framework is designed to efficiently produce high-quality solutions within feasible time limits. Our numerical studies on an actual bus line show that our approach significantly improves system throughput compared to existing benchmarks. Moreover, by strategically managing the entry of autonomous vehicles into the lane and modifying bus timetables, we further enhance the operational efficiency of the system.