Safety Effects of Connected and Automated Vehicle-Based Variable Speed Limit Control near Freeway Bottlenecks considering Driver’s Heterogeneity

Algorithm 2

CAV on-board control module algorithm.

Input: The distance between CAV strategy execution site and the position of downstream VMS, ; the maximum acceleration, ; the desired speed of subject vehicle, ; the minimum gap distance at a standstill, ; the gap distance between the subject and preceding vehicles, ; the safe time gap, ; the desired deceleration, ; the current speed of subject vehicle, ; the speed limit, ; the distance between subject vehicle and the detector at downstream, ; the speed difference between subject and preceding vehicles, ; the average vehicle length, .
Output: The execution deceleration, ;
(1)	for each time step do
(2)	for each vehicle do
(3)
(4)
(5)	return
(6)	if then
(7)
(8)
(9)	return
(10)	end if
(11)	end for
(12)	end for