Road Intersection Coordination Scheme for Mixed Traffic (Human-Driven and Driverless Vehicles): A Systematic Review

Table 1

Categorisation based on centralised intersection control.

Method	Vehicle type	Communication	Performance	Fairness	Safety	Scalability	Cost	Complexity
Cooperative eco-driving model	AV and HV	V2I and V2V	++	++	+	+	+	Minus;
Fuzzy-based	AV	V2V	++	++	++	++	+	Minus;
Automatic merge control	AV	V2V and V2I	+	++	++	+	Minus; minus;	+
Vehicle platooning	A	V2V and V2I	+	+	+	++	+	Minus; minus;
	H	Signal	+	++	+	++	Minus;	+
Cooperative adaptive cruise control	AV	V2V	+	+	+	++	++	+
Game theory-based intersection control	AV	Signal	+	++	++	+	+	Minus;
Genetic algorithm	AV	Signal	+	++	++	+	++	+
Optimisation approach	AV (CVIC)	V2V and V2I	+	++	+	++	++	Minus;
	HV (MPC)	V2V and V2I	++	++	++	+	++	Minus;
	AV (multiagents)	Signal	+	++	+	+	Minus;	Minus;
Safe velocity and acceleration	HV and AV	V2V	+	++	++	++	++	++
Buffer-assignment based coordinated	AV	V2V and V2I	+	++	++	++	++	++