| | Inputs: , , , , , , , , , as defined in Table 3. |
| | Initialize variables |
| (1) | For each |
| (i) | Set # set the closing time for the roads equals the current time |
| (ii) | Set # initialize the vehicle counts in all the roads |
| (2) | Set # initialize the Open Timer to the average of the minimum and maximum open timers |
| (3) | Set # Set the current open road to be the first one |
| (4) | Repeat forever: |
| (5) | Calculate the number of vehicles in each road with the distance to the intersection |
| | # To minimize the computation and iterating on a very large number of entries, we use the following approach: |
| (6) | # For the open road, when a vehicle is crossing the intersection stop line from any lane , |
| (7) | Set |
| (8) | # For all the roads including the open one, on the arrival of any vehicle on the road r in any lane , |
| (9) | Set |
| (10) | If (no more cars are withinin the open road): # the open road is empty |
| (11) | Wait for the transition time, |
| (12) | Close the open road, |
| (13) | Call “Select Next Open Road” algorithm. |
| (14) | If (Emergency vehicle on a Closed Road): |
| (15) | Call Handle_Emergency_Vehicle : |
| (16) | If: # When the green timer expired |
| (17) | Call “Select Next Open Road” algorithm. |
| (18) | Inform the vehicles about the currently open road |
| (19) | Periodically send a broadcast message to all the roads: “the only road having heading direction” is open for at most . |
| (20) | Continue Repeating |
| | End of the Main Algorithm. |
