Table 5 The change in the delay of private vehicles under different arrival rates between scenario 3 and scenario 2.

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

20.47%

38.17%

23.95%

23.81%

13.14%

21.84%

22.36%

21.22%

200

21.14%

12.24%

15.92%

18.89%

23.79%

15.19%

22.77%

22.68%

300

30.83%

32.18%

28.57%

22.60%

30.83%

23.79%

23.80%

24.84%

400

34.06%

29.94%

25.63%

19.69%

21.57%

22.13%

12.60%

17.53%

500

25.77%

21.60%

19.54%

15.47%

19.48%

16.07%

17.80%

12.14%

600

27.45%

26.50%

27.98%

25.25%

24.26%

16.13%

16.05%

16.07%

700

33.13%

27.51%

21.68%

25.98%

21.18%

13.49%

7.62%

9.33%

800

31.97%

31.46%

31.74%

27.25%

32.36%

30.25%

16.65%

21.16%