Table 4 The change in the delay of private vehicles under different arrival rates between scenario 3 and scenario 1.

From: Dynamic Signal priority of the self-driving bus at an isolated intersection considering private vehicles

Non-priority phase

100

200

300

400

500

600

700

800

Priority phase

100

26.12%

31.45%

26.94%

23.87%

23.60%

22.43%

22.97%

24.36%

200

22.10%

17.45%

17.78%

19.68%

18.67%

17.25%

17.43%

19.41%

300

23.93%

20.09%

22.90%

20.27%

19.87%

18.16%

18.18%

17.62%

400

26.79%

25.54%

21.77%

19.86%

21.19%

20.04%

14.45%

14.98%

500

24.29%

20.74%

18.77%

16.66%

18.14%

16.44%

16.06%

14.09%

600

26.48%

23.85%

23.62%

22.10%

20.12%

15.49%

12.32%

12.08%

700

29.72%

28.13%

26.51%

26.75%

20.44%

17.95%

10.20%

6.93%

800

33.38%

29.77%

29.64%

28.07%

28.75%

26.37%

22.10%

21.30%