Table 6. Evaluation and validation results of scenario 2–2 in coordinated intersections.

Model	Average stops delay per cycle	Average delay per cycle	Average speed per cycle	Average number of stops per cycle
DQN	34.50	41.22	18.15	0.78
	(0.78)	(0.90)	(0.35)	(0.03)
Optimal traffic signal timing	36.64	43.54	17.24	0.88
	(1.30)	(1.55)	(0.56)	(0.06)
Comparison	−2.14	−2.32	+0.91	−0.1
Z-value	−2.023
p-value	0.043

(): Standard deviation