Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning

<div>A general optimal trajectory for the deceleration scenario. (a) Theoretical three-segment trajectory in deceleration case (revised from (b) Three-segment trajectory in simulation.</div>

Journal of Advanced Transportation

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Figure 3: Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 

Figure 3 | Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 