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

<div>Constant deceleration trajectory.</div>

Journal of Advanced Transportation

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Figure 5

Figure 5: Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 

Figure 5 | Evaluating the Performance of Connected and Automated Vehicles in Fixed Signal-Controlled Conventional Intersections and Superstreets with Platooning-Based Trajectory Planning 