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In this study, a Green Light Optimal Speed Advisory (GLOSA) system for buses (B-GLOSA) was developed. The proposed B-GLOSA system was implemented on diesel buses, and field tested to validate and quantify the potential real-world benefits. The developed system includes a simple and easy-to-calibrate fuel consumption model that computes instantaneous diesel bus fuel consumption rates. The bus fuel consumption model, a vehicle dynamics model, the traffic signal timings, and the relationship between vehicle speed and distance to the intersection are used to construct an optimization problem. A moving-horizon dynamic programming problem solved using the A-star algorithm is used to compute the energy-optimized vehicle trajectory through signalized intersections. The Virginia Smart Road test facility was used to conduct the field test on 30 participants. Each participant drove three scenarios, including a base case uninformed drive, an informed drive with signal timing information communicated to the driver, and an informed drive with the recommended speed computed by the B-GLOSA system. The field test investigated the performance of using the developed B-GLOSA system considering different impact factors, including road grades and red indication offsets, using a split-split-plot experimental design. The test results demonstrated that the proposed B-GLOSA system can produce smoother bus trajectories through signalized intersections, thus producing fuel consumption and travel time savings. Specifically, compared to the uninformed drive, the B-GLOSA system produces fuel and travel time savings of 22.1% and 6.1%, on average, respectively.

Developing and Field Testing a Green Light Optimal Speed Advisory System for Buses