A Lane-Changing Decision-Making Model of Bus Entering considering Bus Priority Based on GRU Neural Network

Table 2

Bus entering lane change decision feature variables.

Feature variable	Meaning
	The velocity of the bus
	The position of the bus
	The maximum deceleration of the bus
	The velocity of PC, PT, FC, FT
	The position of PC, PT, FC, FT
	The safe distance between the bus and PC, PT, FC, FT
	The maximum deceleration of PC, PT, FC, FT
	The reaction time of bus driver
	The time used to finish the lane-changing process
	The longest allowable time for lane-changing maneuver