Bilevel Programming for Traffic Signal Coordinated Control considering Pedestrian Crossing

Table 1

Notations of model symbols and variables.

Symbol	Illustration
Ii	i-th signal
C	Cycle length (s)
ri	Red time at Ii (s)
	Green (and yellow) time at Ii (s)
	Offset of red starting time between Ii and Ii+1 (s)
	Offset of green starting time between Ii and Ii+1 (s)
	Traffic volume at Ii+1 when Ii is red (pcu/s)
	Traffic volume at Ii+1 when Ii is green (pcu/s)
	Saturated flow rate at Ii (pcu/s)
	Average travel time between Ii and Ii+1 (s)
	Progression bandwidth (s)