Table 4. Evaluation and validation results of scenario 1–3 in isolated intersection.

Model	Average stops delay per cycle	Average delay per cycle	Average speed per cycle	Average number of stops per cycle
DQN	16.55	21.03	32.71	0.44
	(0.09)	(0.11)	(0.07)	(0.00)
Optimal traffic signal timing	17.45	22.01	32.52	0.46
	(0.08)	(0.13)	(0.07)	(0.00)
Comparison	−0.9	−0.98	+0.19	−0.02
Z-value	−2.023
p-value	0.043

(): Standard deviation