Cooperative Transit Signal Priority Considering Bus Stops Under Adaptive Signal Control

Cooperative transit signal priority (CTSP), which integrates cellular vehicle-to-everything (C-V2X) technology, can improve the efficiency of connected transit vehicles at signalized intersections. However, few studies have considered the impact of bus stops on CTSP under adaptive signal control. Near-side bus stops at an intersection and multiple transit vehicles arriving at the same bus stop affect the bus arrival prediction. To overcome these shortcomings, we propose a Cooperative Transit signal priority method under Adaptive signal control considering bus Stops (CTAS). The queue prediction model is built with the real-time traffic data from the roadside perception system at intersections. The distance prediction model is built with real-time transit vehicles data, queue length, location of the bus stop, dwell time, and the preceding transit vehicles at the bus stop. Then the optimal signal timing plan is obtained by minimizing the total person delay. Finally, the rolling horizon strategy is utilized to continuously adjust the signal timing plan to adapt to changing traffic conditions. We verify the proposed method using measured data from an intersection in Changsha. The results indicate that our method achieves the best performance in terms of bus delay and person delay compared with the existing methods. It is an effective method to improve efficiency for transit vehicles and passengers.