Development and Evaluation of Connected-Vehicle-Enabled Optimal Dynamic Path Planning with Bus Stops

The frequent stops of transit buses significantly block lanes on roads and generate vehicle queues behind. The passenger cars traveling behind buses may be stuck in the queues and miss the green light in the downstream intersection. They will be very tempted to make lane changes to avoid the stopping vehicles efficiently. However, without knowing the information of bus stations and traffic signals, it is very difficult and dangerous for the …