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Research of heterogeneous traffic control with intelligent connected vehicles and human drive vehicles

The heterogeneous traffic characteristics are affected by different driving behaviors between human drive vehicles (HDVs) and intelligent connected vehicles (ICVs). For the traffic management and service requirements, this paper reviews previous studies from three accepts: infrastructure-based control, vehicle-based control, and vehicle-infrastructure cooperative control, and proposes possible future developments. Heterogeneous traffic control has shifted from the infrastructure-based to cooperative control and vehicle-based control under different scenarios, but only on small-scale areas of intersection and road section. It would be interesting to study the hierarchical control framework, computing resource allocation of cloud control platform for the control scale expansion. Also, the study would be extended to communication ability, emergency events, complex roads and weather conditions., etc., to improve the effectiveness of heterogeneous traffic control under the intelligent and connected environment.