A Cellular Automata Model for Urban Road Traffic Simulation with Consideration of Bus Stop and Mixed Traffic Flow

We proposed a cellular automata (CA) model for urban road traffic simulation with bus stop and different types of vehicles, including connected and autonomous cars (CACs), connected and autonomous buses (CABs), regular cars (RCs), and regular buses (RBs). We extended the two-state safe speed model (TSM) to simulate the urban road scenario and improve its performance by avoiding unusually large decelerations. We also developed a modeling method for bus stops which are located on the road side and can accommodate only one bus at a time. We used Python to build a simulation platform and investigate the effects of different penetration rates of CACs and CABs on urban road traffic flow characteristics, such as speed, acceleration, and congestion. The simulation results demonstrate the possibility of CACs and CABs in improving urban road traffic efficiency and safety.