This paper presents a velocity control/advise algorithm relying on vehicle-to-vehicle communication, to ensure the headway homogeneity of buses on a joint corridor, i.e. when multiple lines merge and travel on the same route. The proposed control method first schedules merging buses prior to entering a common line. Second, based on the position and velocity of the bus ahead of the controlled one, a shrinking horizon model predictive controller (MPC) calculates a proper velocity profile for the merging bus. The model is able to predict short time-space behavior of public transport buses enabling constrained, finite horizon, optimal control solution to reach the merging point with equidistant headways, taking all buses from different lines into account. The controller is tested in a high fidelity traffic simulator with realistic scenarios.
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