Review Article

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

Table 2

Categorisation based on decentralised intersection control.

MethodVehicle typeCommunicationPerformanceFairnessSafetyScalabilityCostComplexity

Job schedulingAVSignal
Optimisation of connected vehicle environmentAV and HVSignal
Marginal gap intersection crossingAVV2V and V2I
Merge control using virtual vehicles to map lanesAVSignal, V2V and V2I
Autonomous agent-based schedulingAVV2V and V2I
Virtual platooningAVV2V
Our approach: Space-time cell with HV and AVAV and HVSignal, V2I and V2V−−
Virtual platooningAVV2V
Space-time cell reservationAV and HVSignal, V2I and V2V+++