A cooperative control method combining signal control and speed control for transit with connected vehicle environment

Transit operation efficiency and service quality can be enhanced through the implementation of signal and speed control. Previous studies prefer to change driving speed in priority to alleviate the adverse effects of signal timing adjustment on social vehicles. The driving safety and fuel consumption of transit are ignored. To this end, a cooperative control method consisting of three models is proposed. The cooperative control strategy model provides optimal schemes for allocating transit priority time. Based on this, the adjustment of phase time and the transit speed trajectory with the lower fuel consumption are calculated by signal control model and speed control model, respectively. Especially, the signal control model is established in the background of green wave coordinated control to further protect the travelling benefits of social vehicles. The simulation is performed in SUMO to demonstrate the effectiveness of the proposed method. The results show that the cooperative control method improves the crossing efficiency and enhances the fuel economy of transit under different arrival speeds and lengths of control area. Compared with the general signal control, the proposed method can minimize traffic interference, which is particularly obvious in a higher degree of saturation. Here, a cooperative control method is presented with three models to balance the relationship between speed control and signal control for transit under the green wave coordinated control scheme, which provide optimal schemes for allocating transit priority time. The adjustment of phase time and the transit speed trajectory with the lower fuel consumption are calculated by signal control model and speed control model, respectively.image