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

Table 5

Average traffic delay improvement magnitudes of superstreet compared to the equivalent conventional intersection with different CAV Features.

CAV features	Peak demand scale
	25%	50%	75%	100%
IDM	10%	13%	19%	31%
IDM with platooning	8%	14%	17%	21%
IDM with trajectory planning	−4%	8%	19%	32%
IDM with platooning-based trajectory planning	−2%	15%	17%	17%