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

Table 4

CAV performances compared to HDVs with calibrated W99.

	TD^1	Improvement^2 (%)	FC^3	Improvement^4
IDM	23.32	0	97.41	-2%
IDM with platooning	20.49	13	85.87	10%
IDM with trajectory panning	22.04	6	96.14	0%
IDM with platooning-based trajectory planning	19.80	15	94.78	1%

¹ average traffic delay in seconds;² benchmark is 23.42;³ average fuel consumption in milliliter;⁴ benchmark is 95.79.