Table 5 Simulation conditions in the process of data acquisition

Vehicle arrival rates

Change range: 250 pcu/h-750 pcu/h;

Step length: 10 pcu/h.

(1) Under-saturated intersection is considered the research object.

(2) Vehicle arrival rates in the range of 250–750 pcu/h can cover most of the variation range of vehicle arrival rates at urban intersections.

(3) Signal cycle in the range of 30–200 s can cover most of the variation range of signal cycles at urban intersections.

(4) Small simulation step length can cover almost all traffic situations; a large number of simulation data can ensure the accuracy of the model.

Signal cycle

Change range: 30 s–200 s;

Step length: 5 s.

Green signal ratio

Upper bound: 0.8;

Lower bound: determined according to saturation of the intersection approach less than 0.9;

Step length: 0.05.