A Platoon-Based Adaptive Signal Control Method with Connected Vehicle Technology

Table 1

Variables and data notations for the proposed optimization model.

Type	Symbol	Definition
Sets		The set of phases
		The set of cycles
		The set of platoons
		The set of traffic mode: a is the automobile, b is the bus
		The set of j^th platoon at phase and mode m
		The current phase in ring 1 and 2, respectively,
		The set of past phases in cycle 1,
		The set of past phases in the current cycle
Decision variable		Green starting time of phase during cycle k
		Green duration of phase during cycle k
		Phase duration time of phase during cycle k
		Number of vehicles in residual platoon being cut from platoon (p,j,m) due to shortage of green time in cycle
		Binary variable indicating whether platoon (p, j, m) is served before the end of phase during cycle (if , the platoon is served within cycle else served in other cycles)
		Total delay by stopping the leading vehicle of platoon
		Total delay by splitting platoon
		Slack time for phase p in cycle k
Data		Elapsed green time for phase p,
		Nominal green duration time for past phases in cycle 1
		Initial starting time for phase p
		Sum of yellow and red clearance time
		Minimum and maximum green time for phase p
		Estimated arrival time at stop line for platoon
		Number of vehicles in platoon
		Saturated vehicle headway at stop line for phase
	M	A large constant