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

Figure 7

Average traffic delay(s) of CAVs in the equivalent conventional intersection. (a) Average traffic delay for IDM and IDM with platooning (b) Average traffic delay for IDM and IDM with trajectory planning. (c) Average traffic delay for IDM and IDM with platooning-based trajectory planning.

(a)

(b)

(c)