Evolutionary Dynamics of Mandatory Lane Changing for Bus Exiting

With the development of the connected autonomous bus, the interactions between the bus and social vehicle during the mandatory lane changing for bus exiting become more diverse and complex. This research investigates the evolutionary dynamics of behavioral decision-making for the bus and social vehicle in different scenarios. The evolutionary game model for the connected autonomous bus and social vehicle is built, as do the human-driven bus and social vehicle, and the connected autonomous bus under different penetration rates and social vehicle. The results of numerical experiments reveal that the connected autonomous bus chooses to change lanes in most instances, and the strategies of the human-driven bus show conservative tendencies. Such tendencies are weakened when the connected autonomous bus and human-driven bus are mixed. As for the social vehicle in different scenarios, the strategies that balance overall traffic safety and efficiency are promoted. This research provides some references for intelligent decision-making of lane changing in urban public transportation.