This would be situational irony. The idea is that you think you have enough for the bus. You don’t realize you’re missing a penny. If you had stopped to pick up the penny, you would’ve had enough - especially if you were early or on time to begin with. The other two types of irony are used in other kinds of situations. Verbal irony would be something like a villain telling the hero they love them when they don’t.
Dramatic irony is usually used in the arts, but it mainly has to do with the audience knowing something the other characters don’t. Iago’s plans in “Othello”, for example, are known in their entirety to the audience, but not every character knows all the details.