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The Full Velocity Difference Model(FVD) had been calibrated and verified based on the real traffic data to reflect the car-following behavior of the mixed traffic flow at the intersection approach during the signal green time. However, the simulation results showed big gaps on acceleration, speed and vehicle spacing by using the FVD model. This study considered the differences of vehicle types and driver's behavior at four scenarios: car following car, car following bus, bus following car, and bus following bus, and then developed a new car-following model. The analysis results show that the performance of the proposed model has been significantly improved, and the Root Mean Square Percentage Errors (RMSPE) of speed and vehicle space are 15.29% and 22.32%, respectively, which are lower than the FVD model results. The improved model performs better than the FVD model in describing the car-following behavior at approaches of signalized intersections. Copyright © 2020 by Science Press.
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