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algorithm approach arrival band automated automated guideway transit automatic average buses calculated capacity component constant constraints control strategy Control Unit cost cycle length defined delay demand detection detectors downstream dynamic empty vehicle equation equipment estimation evaluation factor fare Federal Highway Administration Fortran frequency function given green interval guideway headway Highway implemented incident input linear measured method Metropolitan Toronto number of vehicles obtained offset operation optimal control optimization output parameters passenger performance period Personal Rapid Transit phase phasor possible problem processor queue length queueing theory ramp Research route saturation simulation slot spacing spacing controller speed station stop surveillance techniques teleprinter Texas Transportation Institute tion track traf Traffic Engineering traffic flow traffic signal train transit transportation systems trip upstream users variables velocity volume zone