Trajectory Planning Method for Mixed Vehicles Considering Traffic Stability and Fuel Consumption at the Signalized Intersection

Table 3

Fuel consumption and emissions of different MPRs.

Penetration rate	Fuel (L)	NOx (mg)	HC (mg)	CO2 (g)	CO (mg)
0%	2.88	4.70	2.59	6.89	36.31
25%	2.64	4.16	2.36	6.30	33.23
50%	2.39	3.63	2.13	5.72	30.16
75%	2.15	3.09	1.91	5.13	27.1
100%	1.9	2.55	1.68	4.54	24.02