Vehicle Trajectory Control and Signal Timing Optimization of Isolated Intersection under V2X Environment

Table 3

Symbols and meanings.

Notation	Explanation
	Vehicle number
	Maximum acceleration
	Safety deceleration
	Limited speed of the studied road segment
	Minimum spacing gap
	Vehicle length
	Simulation time step
	Minimum time gap in the improved 2D-IDM model
	Maximum time gap in the improved 2D-IDM model
	Two independent uniformly distributed random numbers between 0 and 1 in the improved 2D-IDM model
	Changing probability of target time gap in the improved 2D-IDM model
	Limit of changing rate of the desired time gap in the improved 2D-IDM model
	Spacing gap between the preceding vehicle n − 1 and the current vehicle n
	Position of vehicle n at time t
	Velocity of vehicle n at time t
	Acceleration of vehicle n at time t
	Acceleration of vehicle n at time t in the improved 2D-IDM model
	Desired spacing gap of vehicle n in the improved 2D-IDM model
	Desired time gap of vehicle n at time t in the improved 2D-IDM model
	Target time gap of vehicle n at time t in the improved 2D-IDM model