A Review of Research on Optimisation Methods for Vehicle-Road Cooperative Control

Effective traffic control can alleviate congestion, enhance mobility, reduce fuel consumption and improve road safety. In the current environment, the development of vehicle-road cooperative control is a key link in enhancing the high efficiency, economic, digital and intelligent development of urban traffic. This paper systematically reviews key optimisation methods in vehicle-road cooperative control, covering research advances in right-of-way allocation, vehicle speed trajectory optimisation, traffic signal optimisation and co-optimisation of traffic signals and vehicle speeds. It synthesises representative research in these four areas, encompassing related algorithm models and evaluation indicators. Through a comparative analysis of various methods and their evaluation frameworks, the applicability of these methods in enhancing traffic efficiency is tested. Findings show that while existing studies have achieved promising results, most focus on isolated intersections, oversimplifying real-world road networks. Efficient co-optimisation of traffic signals and vehicle speeds for connected and automated vehicles (CAVs) requires moving beyond single-node optimisation to real-world network applications. Finally, the future research directions and challenges are discussed. Hopefully, this review could provide researchers with a helpful roadmap for future research on urban traffic control optimisation methodologies.