$v_{min}$	the minimum speed (20 km/h). Assume that if the vehicle speed is less than $v_{min}$, the vehicle is in the congestion. So the vehicle cannot be guided
$v_{max}$	the maximum speed (60 km/h)
$a_{max}$	the maximum acceleration (3 m/s2)
$v_0$	the real-time speed when the vehicle enters the influencing area
$t_z$	the earliest time at which the vehicle arrives at the stop line. If $t_A$ (the earliest time at which vehicle A can arrive at the stop line because of leading vehicle B) is later than $t_z$ in the guidance process, $t_z$ must be replaced by $t_A$
$v^{\prime }{}_{min}$	the minimum speed at which the vehicle can pass through the intersection in the present green light phase
$v_{imin}$	the minimum speed when the vehicle can pass through the intersection in the next green light phase
$v_{imax}$	the maximum speed when the vehicle can pass through the intersection in the next green light phase
l	the radius (150 m) of the influencing area