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| Notations | Description |
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| Parameters |
| N | Set of zones, indexed as |
| T | Set of time periods, indexed as t |
| The unit time-related price for SAV users |
| The unit value of time for SAV users |
| The unit value of time for CPV users |
| The parking cost for a CPV trip |
| η | Daily maintenance cost for an SAV |
| The total travel demand for SAVs and CPVs from origin to destination departure at time |
| The minimum customer service rate |
| The capacity of an SAV, which allows ride-pooling |
| The unit penalty cost for one unserved SAV demand |
| The unit fuel consumption cost |
| The shortest travel time from zone to zone at time in k-th period |
| The total fleet size |
| The number of parking spaces at zone |
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| Decisions variables |
| The base price for a SAV trip |
| The number of occupied vehicles with passengers from zone to zone departure at time |
| The number of empty vehicles relocating from zone to zone at departure time |
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| Auxiliary variables |
| The number of SAVs waiting at zone at the beginning of time |
| The probability of travelers choosing SAVs from zone to zone at time |
| The number of travelers who intend to employ SAVs from zone to zone at time |
| The number of travelers served actually by SAVs from zone to zone at time |
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