Distributed Cooperative Driving Strategy for Connected Automated Vehicles at Unsignalized Intersections Based on Monte Carlo Method

Table 3

Throughput under different arrival rates.

Arrival rate (veh/s)	Strategy	Throughput (veh)
0.5	FCFS	3220
	LQF	3170
	C-MCTS	3200
	D-MCTS	3230
	AIC	1670
	SIGNAL	1610
1.0	FCFS	6040
	LQF	6070
	C-MCTS	6130
	D-MCTS	6160
	AIC	2980
	SIGNAL	2900
1.5	FCFS	8340
	LQF	8510
	C-MCTS	8670
	D-MCTS	8860
	AIC	3890
	SIGNAL	3620
2.0	FCFS	10860
	LQF	11210
	C-MCTS	11440
	D-MCTS	11800
	AIC	5870
	SIGNAL	5510