Enhancing Mixed Traffic Flow Safety via Connected and Autonomous Vehicle Trajectory Planning with a Reinforcement Learning Approach

Table 2

Algorithm performance comparison in different LOS.

LOS	Benchmark1 (no intelligence)	Proposed model: MCTS-AVS	Benchmark2: (MCTS-MTF
A	56.24	49.526 (11.94%)	52.26 (7.08%)
B	189.54	35.22 (81.42%)	47.41 (74.99%)
C	162.63	38.12 (76.56%)	43.36 (73.34%)
D	108.42	47.06 (56.59%)	51.96 (52.08%)
E	56.4	49.76 (11.77%)	53.41 (5.30%)
F	60.12	45.91 (23.64%)	46.5 (22.65%)