Optimisation of Speed Profile Considering Traffic Lights and Other Traffic Participants

The research on optimising the speed profile of public transportation holds significant potential for enhancing operational efficiency. Nevertheless, there is currently limited literature that accounts for the impact of traffic lights and other traffic participants on the speed profile. This paper proposes a method for online generation of the optimal speed profile based on dynamic programming and state machine. Based on dynamic programming, the speed profile that adhere to traffic lights is generated. Considering the interactions of ego vehicle with other participants during operation, the speed profile is optimised online based on state machine. The effectiveness of the proposed method is verified by simulation based on Simulink and TruckMaker.