## 5 Results and Discussion
### Comparison of Driving Performance
Figure 9 delineates the acceleration and fuel consumption rate curve of a CAV encountering a red light [27; 28; 29; 30]. Detailed scrutiny reveals that CAVs facing red lights necessitate braking to a complete stop and subsequent acceleration to the desired velocity upon the green light's appearance, thereby engendering frequent acceleration and deceleration cycles that elevate fuel consumption. Consequently, the emphasis of cooperative driving strategies on coordinating CAVs to curtail unnecessary acceleration and deceleration elucidates the superior energy economy performance of the DRP strategy compared to the LDR and FIFO strategies. The latter two evince weaker capabilities in coordinating conflicting CAVs, necessitating more frequent modulation of CAVs' velocity changes, thereby amplifying fuel consumption. Finally, we assess the efficiency of the crossing sequence by examining the frequency of emergency braking per minute. Under conditions of lower traffic demands, this metric tends toward zero across all cooperative driving strategies except for the LDR strategy. Analysis indicates that the frequent revision of the crossing sequence by the LDR strategy is the primary driver of this trend. Conversely, the DRP strategy addresses this issue by centralizing enhancements to the CSP and integrating platooning algorithms. Figure 8: Average travel delay (**a**) and average fuel consumption (**b**) of different driving strategies under different arrival rates. In conditions of moderate traffic demands (640 veh/h/lane), cooperative driving strategies demonstrate a 41.89% decrease in average travel delay compared to the traffic light strategy, indicating a slightly reduced improvement compared to lower traffic demands. This reduction primarily arises from the escalating expense of collision avoidance as the number of CAVs within the intersection area increases. To circumvent collision incidents, CAVs progressively delay their arrival time at the MZ, thereby incurring additional average travel delay. In this context, the average travel delay data for the DRP strategy are lower than those of the LDR and FIFO strategies, signifying the superior performance of the DRP strategy in mitigating collision avoidance costs. Moreover, cooperative driving strategies show a diminished potential for savings in average fuel consumption compared to the traffic light strategy, declining to 15.16%. This phenomenon is ascribed to the necessity for more frequent modulation of CAV velocity changes to avoid collisions, resulting in increased fuel consumption. Moreover, the incidence of emergency braking incidents rises for cooperative driving strategies. Analysis indicates that as the quantity of CAVs within the intersection area increases, the complexity of computing the optimal crossing sequence also escalates. Nonetheless, the DRP strategy consistently registers the lowest number of incidents, underscoring that the crossing sequence derived from this strategy outperforms those of the other two strategies. In scenarios characterized by higher traffic demands (800 veh/h/lane), the performance of the FIFO strategy significantly deteriorates, with a 19.55% increase in average travel delay and a 4.06% increase in average fuel consumption. This outcome underscores the capacity constraint of the FIFO strategy, representing a bottleneck to further enhancing traffic efficiency and optimizing energy economy. Conversely, the DRP and LDR strategies persist in reducing average travel delay and lowering average fuel consumption. Particularly notable is the more pronounced effect of the DRP strategy in reducing travel delay and fuel consumption, thereby validating its superiority over the LDR strategy in improving traffic efficiency and optimizing energy economy. Additionally, the order of emergency braking incidents for cooperative driving strategies is similar to that observed under moderate traffic demand, leading to the same conclusion: the crossing sequence obtained from the DRP strategy outperforms those of the other two strategies.