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

<div>The two-segment trajectory when the travel time is equal to the boundary values. 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Journal of Advanced Transportation

fig4

Figure 4

Figure 4: Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 

Figure 4 | Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 