Table 1: Notations.

TypeSymbolDefinition

Set The set of intersections
The set of links
The set of bus stops
The set of key-time node of planned arrival time
The set of key-time node of latest planned arrival time

Timing variable Signal time when bus arrives at intersection
Common cycle
Predicted arrival time point in one cycle when bus arrives at intersection
Red time between and the ending time of the red phase at intersection
Back-stepping arrival time point in one cycle when bus arrives at intersection
Red time between and the starting time of the red phase at intersection
The planned arrival time point to downstream stop
The latest planned arrival time point to downstream stop
Current time

Data Current speed of bus
Empirical bus speed at link
Length of link
Distance between bus and th downstream stop
Current link
Link in which th downstream stop is located
Empirical bus speed at link