Conflict Mitigation for Multi-Bus Green-Wave Operation in a Vehicle–Road–Cloud System

Abstract

This paper proposes a conflict mitigation method for multi-bus green-wave operation at urban intersections based on a vehicle-road-cloud platform. The method builds a closed-loop framework covering perception, communication, prediction, decision making, and execution. Real-time trajectory prediction, dynamic priority arbitration, and target-point speed guidance are integrated to coordinate buses that approach the same signalized corridor within a short time. Field experiments on the Jialingjiang Laboratory platform of Chongqing University show that the proposed method reduces the conflict rate from 40% to 5%, shortens the average travel time from 359.3 s to 314.6 s, and lowers the average number of stops from 2.3 to 0.7. The results indicate that the proposed framework can improve efficiency, safety, and controllability in complex multi-bus operating scenarios.