Currently, there are only a few technical aids or even control methods to accelerate autonomous buses in urban traffic or to provide them with an extended green phase. This is necessary because their speed is very different from other road users. Communication between autonomous buses and the infrastructure using vehicle-to-everything (V2X) communication is already possible and well researched. It is not yet supported by many manufacturers of the control units and also manufacturers of vehicles. In the project, we have researched the development of a new traffic light signal system (LSA) control procedure with innovative traffic light system communication and detection technology and also implemented it in real traffic. The results from the research can currently already be used for small vessel sizes. The offer can be extended by possible on-demand stops and the correct reaction to vehicles with official duties like police, fire department or ambulance vehicles. In particular, interchanges without a driver present or the usual stop infrastructure at virtual on-demand stops require more passenger guidance by autonomous transport modes.