Vehicle Trajectory Control and Signal Timing Optimization of Isolated Intersection under V2X Environment

Table 6

Reduction percentage of average waiting time of vehicles under vehicle control scheme and two-layer control model scheme.

Penetration rate (%)	Control scheme
	Control of vehicle (%)	Signal and vehicle joint control (%)
0	11.67	24.92
10	9.06	25.81
20	6.29	25.42
30	9.49	25.30
40	6.67	24.52
50	10.33	24.46
60	3.83	19.75
70	3.95	20.50
80	8.95	22.95
90	4.52	15.63
100	10.34	19.54