Speed Guidance Model for Electric Bus at Signalized Intersection Based on Cooperative Vehicle Infrastructure System

Unreasonable speed of electric buses may waste energy and can even cause accidents at intersections. With regenerative braking systems, battery electric buses can partially recover kinetic energy, which can be converted into electric energy. In this paper, a speed guidance model is proposed for electric buses at signalized intersections to achieve safe and ecological driving. To minimize the energy consumption, an optimal control model, considering the influence of queue and the bus stop, is proposed using the real-time data from cooperative vehicle infrastructure system (CVIS). To ensure bus safety and passenger comfort, speed and acceleration constraints are added to the model. Performance of the model is evaluated by MATLAB. The results show that the proposed optimal control model can effectively assist to formulate a reasonable speed guidance, which can significantly reduce energy consumption without increasing driving time.