Joint Optimization of the Scheduling and Speed of Modular Autonomous Bus Considering Transfer Behaviors

This paper optimizes the departure times, vehicle types, line transfers, and inter-station speeds in a modular autonomous bus network considering transfers. For multi-line networks, a speed adjustment strategy is proposed to reduce station dwelling and transfer waiting times. A mixed-integer nonlinear programming model is formulated to minimize total operational and passenger travel costs. A customized genetic algorithm is used to solve the model. Comparisons with two benchmarks show that speed-adjustable modular autonomous buses can improve vehicle utilization and reduce waiting times for transferring passengers.