Characteristics of the reviewed ramp merging strategies
| Category | Reference | Veh. tech. | Penet. level | Freeway layout | Control decision | ||
|---|---|---|---|---|---|---|---|
| Upper level | Lower level | Primary method | |||||
| 1. CAV-only and one-lane | Chen et al. (2021b) | CAV | Total | One-lane | – b | Trajectory | Feedback control |
| Hu et al. (2021) | CAV | Total | One-lane | – | Trajectory | Feedback control | |
| Liao et al. (2021) | CV | Total | One-lane | – | Trajectory | Feedback control | |
| Sonbolestan et al. (2021) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Xu and Shen (2021) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Chen et al. (2020) | CAV | Total | One-lane | Merging gap choice | Trajectory | Optimization | |
| Ding et al. (2020) | CAV | Total | One-lane | Merging sequence | Trajectory | Optimization | |
| Fukuyama (2020) | CAV | Total | One-lane | – | Trajectory | game theory | |
| Jing et al. (2019) | CAV | Total | One-lane | Merging sequence | Trajectory | Optimization | |
| Nishi et al. (2019) | AV | Total | One-lane | Merging gap choice | Trajectory | Machine learning | |
| Pei et al. (2019) | CAV | Total | One-lane | Merging sequence | – | Optimization | |
| Xu et al. (2019a) | CAV | Total | One-lane | Merging sequence | – | Optimization | |
| Xu et al. (2019b) | CAV | Total | One-lane | Merging sequence | Trajectory | Generic algorithm | |
| Zhou et al. (2019a) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Zhou et al. (2019b) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Letter and Elefteriadou (2017) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Rios-Torres and Malikopoulos (2017a) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Scarinci et al. (2017) | CAV | Total | One-lane | Periodic gap | – | Traffic modeling | |
| Ward et al. (2017) | AV | Total | One-lane | – | Trajectory | Optimization | |
| Xie et al. (2017) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Ntousakis et al. (2016) | CAV | Total | One-lane | – | Trajectory | Optimization | |
| Cao et al. (2015) | CV | Total | One-lane | – | Trajectory | Optimization | |
| Wang et al. (2013) | CAV | Total | One-lane | – | Trajectory | Virtual vehicle | |
| 2. Mixed and one-lane | Chen et al. (2021a) | CAV | Mixed | One-lane | Periodic gap, batch merge | – | Traffic modeling |
| Rios-Torres and Malikopoulos (2018) | CAV | Mixed | One-lane | – | Trajectory | ||
| Kherroubi et al. (2021) | CAV | Mixed | One-lane | – | Trajectory | Machine learning | |
| Mu et al. (2021) | CAV | Mixed | One-lane | – | Trajectory | Optimization | |
| Okuda et al. (2021) | AV | Mixed | One-lane | – | Trajectory | Optimization | |
| Karimi et al. (2020) | CAV | Mixed | One-lane | – | Trajectory | Optimization | |
| Omidvar et al. (2020) | CAV | Mixed | One-lane | – | Trajectory | Optimization | |
| Sun et al. (2020) | CAV | Mixed | One-lane | Merging gap choice | Trajectory | Optimization | |
| Ding et al. (2019) | CAV | Mixed | One-lane | Merging sequence | Trajectory | Optimization | |
| Ito et al. (2019) | CAV | Mixed | One-lane | – | Trajectory | Optimization | |
| Zhou et al. (2017) | AV | Mixed | One-lane | – | Trajectory | Car-following | |
| 3.CAV-only or mixed multilane | Gao et al. (2021) | CAV | Mixed | Multilane | – | Trajectory | Optimization |
| Hang et al. (2021) | CAV | Total | Multilane | – | LC, trajectory | Game theory | |
| Pan et al. (2021) | CAV | Mixed | Multilane | Ramp inflow | LC, speed | Optimization | |
| Liu et al. (2021) | CAV | Total | Multilane | – | LC, trajectory | Machine learning | |
| Williams et al. (2021) | CAV | Mixed | Multilane | – | Trajectory | Car-following | |
| Guo et al. (2020) | CAV | Mixed | Multilane | – | LC a, speed | Machine learning | |
| Karbalaieali et al. (2020) | CAV | Total | Multilane | – | LC, speed | Optimization | |
| Tajdari et al. (2020) | CV | Mixed | Multilane | LC/ramp flows | – | Feedback control | |
| Hu and Sun (2019) | CAV | Total | Multilane | – | Trajectory | Optimization | |
| Milanés et al. (2010) | CV | Total | Multilane | – | Trajectory | Fuzzy control | |
| Reference | Veh. tech. | Penet. level | Freeway layout | Control decision | |||
|---|---|---|---|---|---|---|---|
| Lower level | Primary method | ||||||
| CAV | Total | One-lane | – b | Trajectory | Feedback control | ||
| CAV | Total | One-lane | – | Trajectory | Feedback control | ||
| CV | Total | One-lane | – | Trajectory | Feedback control | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | Merging gap choice | Trajectory | Optimization | ||
| CAV | Total | One-lane | Merging sequence | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | game theory | ||
| CAV | Total | One-lane | Merging sequence | Trajectory | Optimization | ||
| AV | Total | One-lane | Merging gap choice | Trajectory | Machine learning | ||
| CAV | Total | One-lane | Merging sequence | – | Optimization | ||
| CAV | Total | One-lane | Merging sequence | – | Optimization | ||
| CAV | Total | One-lane | Merging sequence | Trajectory | Generic algorithm | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | Periodic gap | – | Traffic modeling | ||
| AV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Optimization | ||
| CV | Total | One-lane | – | Trajectory | Optimization | ||
| CAV | Total | One-lane | – | Trajectory | Virtual vehicle | ||
| CAV | Mixed | One-lane | Periodic gap, batch merge | – | Traffic modeling | ||
| CAV | Mixed | One-lane | – | Trajectory | |||
| CAV | Mixed | One-lane | – | Trajectory | Machine learning | ||
| CAV | Mixed | One-lane | – | Trajectory | Optimization | ||
| AV | Mixed | One-lane | – | Trajectory | Optimization | ||
| CAV | Mixed | One-lane | – | Trajectory | Optimization | ||
| CAV | Mixed | One-lane | – | Trajectory | Optimization | ||
| CAV | Mixed | One-lane | Merging gap choice | Trajectory | Optimization | ||
| CAV | Mixed | One-lane | Merging sequence | Trajectory | Optimization | ||
| CAV | Mixed | One-lane | – | Trajectory | Optimization | ||
| AV | Mixed | One-lane | – | Trajectory | Car-following | ||
| CAV | Mixed | Multilane | – | Trajectory | Optimization | ||
| CAV | Total | Multilane | – | LC, trajectory | Game theory | ||
| CAV | Mixed | Multilane | Ramp inflow | LC, speed | Optimization | ||
| CAV | Total | Multilane | – | LC, trajectory | Machine learning | ||
| CAV | Mixed | Multilane | – | Trajectory | Car-following | ||
| CAV | Mixed | Multilane | – | LC a, speed | Machine learning | ||
| CAV | Total | Multilane | – | LC, speed | Optimization | ||
| CV | Mixed | Multilane | LC/ramp flows | – | Feedback control | ||
| CAV | Total | Multilane | – | Trajectory | Optimization | ||
| CV | Total | Multilane | – | Trajectory | Fuzzy control | ||
Notes:
aLC: lane change; bnot applicable
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