1 Introduction
2 Background and terminology
3 Problem description
ID | Reference | Year | Journal* | Citation | ID | Reference | Year | Journal* | Citation |
---|---|---|---|---|---|---|---|---|---|
1 | Dunne and Potts [14] | 1964 | OR | 87 | 37 | Srinivasan et al. [15] | 2006 | TITS | 362 |
2 | Gazis [16] | 1964 | OR | 310 | 38 | Boillot et al. [17] | 2006 | TRC | 117 |
3 | Ross et al. [18] | 1971 | TS | 15 | 39 | Yu and Recker [19] | 2006 | TRC | 119 |
4 | D’ans and Gazis [20] | 1976 | TS | 166 | 40 | Stevanovic et al. [21] | 2008 | TRC | 156 |
5 | Michalopoulos [22] | 1977 | TR | 147 | 41 | Villalobos et al. [23] | 2008 | PV | 48 |
6 | Michalopoulos [24] | 1978 | TR | 94 | 42 | Yin [25] | 2008 | TRB | 155 |
7 | Smith [26] | 1979 | TRB | 123 | 43 | Cai et al. [27] | 2009 | TRC | 193 |
8 | Improta and Cantarella [28] | 1984 | TRB | 209 | 44 | Ekeila et al. [29] | 2009 | TRR | 72 |
9 | Gallivan and Heydecker [7] | 1988 | TRB | 103 | 45 | Arel et al. [30] | 2010 | ITS | 294 |
10 | Gartner et al. [31] | 1991 | TRB | 285 | 46 | Haddad et al. [32] | 2010 | TAC | 56 |
11 | Dell’Olmo and Mirchandani [33] | 1995 | TRR | 81 | 47 | Balaji et al. [34] | 2010 | ITS | 122 |
12 | Wong [35] | 1996 | TRB | 80 | 48 | Prashanth and Bhatnagar [36] | 2010 | TITS | 218 |
13 | Sen and Head [37] | 1997 | TS | 301 | 49 | Liu and Chang [38] | 2011 | TRC | 137 |
14 | Silcock [39] | 1997 | TRA | 54 | 50 | Adacher [40] | 2012 | PSBS | 21 |
15 | Spall and Chin [10] | 1997 | TRC | 152 | 51 | He et al. [41] | 2012 | TRC | 205 |
16 | De Schutter and De Moor [42] | 1998 | EJC | 237 | 52 | McKenney and White [9] | 2012 | EAAI | 69 |
17 | Lo [43] | 1999 | TRA | 311 | 53 | Zheng and Recker [44] | 2013 | TRC | 34 |
18 | Wong and Yang [45] | 1999 | JAT | 37 | 54 | Christofa et al. [46] | 2013 | TITS | 69 |
19 | Lee and Kwang [47] | 1999 | TSMCC | 208 | 55 | Zhang et al. [48] | 2013 | TRC | 90 |
20 | Trabia et al. [49] | 1999 | TRC | 247 | 56 | Varaiya [50] | 2013 | TRC | 204 |
21 | Niittymaki and Pursula [51] | 2000 | FSS | 158 | 57 | Li et al. [52] | 2013 | MPE | 32 |
22 | Chang and Lin [53] | 2000 | TRB | 204 | 58 | He et al. [54] | 2014 | TRC | 175 |
23 | Mirchandani and Head [6] | 2001 | TRC | 698 | 59 | Jin and Ma [55] | 2015 | TRP | 23 |
24 | Roozemond [56] | 2001 | EJOR | 152 | 60 | Feng et al. [57] | 2015 | TRC | 247 |
25 | Lo et al. [58] | 2001 | TRA | 259 | 61 | Le et al. [59] | 2015 | TRC | 94 |
26 | Wong et al. [60] | 2002 | TRB | 99 | 62 | Hu et al. [61] | 2015 | TRC | 100 |
27 | De Schutter [62] | 2002 | EJOR | 62 | 63 | Han et al. [63] | 2016 | TRC | 63 |
28 | Dion and Hellinga [64] | 2002 | TRB | 136 | 64 | Christofa et al. [65] | 2016 | TRC | 69 |
29 | Abdulhai et al. [66] | 2003 | JTE | 355 | 65 | Choi et al. [67] | 2016 | JAT | 6 |
30 | Choy et al. [68] | 2003 | TSMCA | 240 | 66 | Portilla et al. [69] | 2016 | TRC | 14 |
31 | Wong and Wong [70] | 2003 | TRB | 187 | 67 | Chandan et al. [71] | 2017 | TRP | 13 |
32 | Lin and Wang [13] | 2004 | TITS | 168 | 68 | Lee et al. [8] | 2017 | TRB | 18 |
33 | Chang and Sun [72] | 2004 | TRB | 128 | 69 | Jin and Ma [73] | 2017 | EAAI | 31 |
34 | Di Febbraro et al. [74] | 2004 | TITS | 212 | 70 | Aslani et al. [75] | 2017 | TRC | 37 |
35 | Murat and Gedizlioglu [76] | 2005 | TRC | 173 | 71 | Li et al. [77] | 2018 | TRC | 11 |
36 | Bazzan [78] | 2005 | AAMAS | 301 | 72 | Wang et al. [79] | 2019 | JAT | 3 |
4 ITSCP classification based on problem characteristics
Criteria | Consideration | |
---|---|---|
Network type | 1. Isolated intersection (I) 2. Arterial network (A) 3. General network (G) | |
Type of road users | 1. Passenger cars (PC) 2. Pedestrians (P) 3. Transit vehicles (TV) 4. Passenger of transit vehicles (PTV) 5. Emergency vehicles (EV) 6. Motorcycles (M) 7. Heavy goods vehicles (HGVs) 8. Large goods vehicles (LGVs) 9. Bicycles (B) | |
Priority | 1. Priority is considered 2. Priority is not considered | |
Real-time strategies | 1. Fixed-time 2. Actuated 3. Adaptive | |
Objectives | 1. Delay minimization (D) 2. Person delay minimization (PD) 3. Throughput maximization (TH) 4. Total travel time minimization (TT) 5. Bandwidth maximization (B) 6. Total vehicle stops minimization (TS) 7. Mean queue length minimization (QL) 8. Max queue length minimization (XQL) 9. Emission minimization (E) 10. Fuel consumption minimization (FC) 11. Cycle length minimization (CL) 12. Likelihood of intersection cross-blocking minimization (ICB) 13. Increasing average vehicle speed (VS) 14. Total stoppage time minimization (TST) 15. Safety maximization (S) | |
Constraints | Cycle length | 1. Fixed cycle length (F) 2. Limit on minimum cycle length (M) 3. Limit on maximum cycle length (X) 4. cycle length is not limited (N) |
Green phase duration | 1. Limit on minimum green phase duration (M) 2. Limit on maximum green phase duration (X) 3. green phase duration is not limited (N) | |
Phase sequence | 1. Fixed phase sequence (F) 2. Phase sequence is selected among phase groups (S) 3. Phase sequence is not limited (N) |
Reference | Network | Type of road users | Priority | Real-time strategies | Objectives | Constraints | |||
---|---|---|---|---|---|---|---|---|---|
Lane | Network type | Cycle length | Green phase duration | Phase sequence | |||||
Dunne and Potts [14] | 1 | I | PC | No | Actuated | D | N | M, X | F |
Gazis [16] | 1 | A (1 × 2) | PC | No | Fixed | D | N | M, X | F |
Ross et al. [18] | 3 | I | PC | No | Actuated | D | M, X | M, X | F |
D’ans and Gazis [20] | 1 | A (1 × 2) | PC | No | Actuated | D | F | M, X | F |
Michalopoulos [22] | 1 | I | PC | No | Actuated | D | M, X | M, X | F |
Michalopoulos [24] | 1 | A (1 × 2) | PC | No | Actuated | D | F | M, X | F |
Smith [26] | 1 | I (3-leg) | PC | No | Fixed | TH | F | N | F |
Improta and Cantarella [28] | 3 | I (6-leg) | PC, P | No | Actuated | D/TH/CL | N | M | F |
Gallivan and Heydecker [7] | 2 | I (3-leg) | PC | No | Actuated | D/TH | X | M | S |
Gartner et al. [31] | 1 | A (1 × N) | PC | No | Actuated | D/B | M, X | N | S |
Dell’Olmo and Mirchandani [33] | 1 | A (1 × 3) | PC | No | Adaptive | D, B | F | N | N |
Wong [35] | 2 | G (15 TL) | PC | No | Actuated | D, TS | M, X | M | F |
Sen and Head [37] | 1 | I | PC | No | Adaptive | D, TS, XQL | N | M | S |
Silcock [39] | 4 | I (3-leg) | PC, P, M, LGVs, HGVs | No | Actuated | D, TH | M, X | M, X | S |
Spall and Chin [10] | 1 | G (3 × 3) | PC | No | Actuated | D/QL | N | N | F |
De Schutter and De Moor [42] | 1 | I | PC | No | Adaptive | D/QL | N | M, X | N |
Lo [43] | 1 | A (1 × 2) | PC | No | Actuated | D | F | M, X | F |
Wong and Yang [45] | 1 | G (3 × 3) | PC, P | No | Actuated | D, TT | N | M | F |
Lee and Kwang [47] | 4 | G (7/9/13 TL) | PC | No | Actuated | D | N | N | S |
Trabia et al. [49] | 3 | I | PC | No | Actuated | D, TS | N | M, X | F |
Niittymaki and Pursula [51] | 2 | I | PC, P | No | Actuated | D, TS | N | M | S |
Chang and Lin [53] | 1 | I | PC | No | Actuated | D | N | M, X | F |
Mirchandani and Head [6] | – | A (1 × 9) | PC | No | Adaptive | D | N | N | F |
Roozemond [56] | – | – | PC | No | Adaptive | General loss | N | N | N |
Lo et al. [58] | 2 | A (1 × 2) | PC | No | Actuated | D | N | M, X | F |
Wong et al. [60] | 3 | G (13 TL) | PC, P | No | Actuated | D, TS | M, X | M | F |
De Schutter [62] | 1 | I | PC | No | Actuated | D, QL, XQL | N | M, X | S |
Dion and Hellinga [64] | 3 | I | PC, TV | Yes | Actuated | D, TT, TS | N | M, X | F |
Abdulhai et al. [66] | – | I | PC | No | Actuated | D | N | M, X | – |
Choy et al. [68] | – | G (25 TL) | PC | No | Actuated | D, TST | N | N | F |
Wong and Wong [70] | N | I | PC, P | No | Actuated | TH, CL | M, X | M | N |
Lin and Wang [13] | 1 | A (1 × 2) | PC, EV | Yes | Actuated | D, TS | F / N | M, X | N |
Chang and Sun [72] | N | G (25 TL) | PC | No | Actuated | D, TS | M, X | M, X | F |
Di Febbraro et al. [74] | 1 | G (3 × 2) | PC, TV, EV | Yes | Actuated | TT | M, X | M, X | F |
Murat and Gedizlioglu [76] | 2 | I | PC | No | Actuated | D | N | M, X | S |
Bazzan [78] | 2 | A (1 × 10) | PC | No | Actuated | D | M, X | M | F |
Srinivasan et al. [15] | – | G (25 TL) | PC | No | Actuated | D, TST | N | N | N |
Boillot et al. [17] | 2 | I | PC | No | Actuated | D | N | N | F |
Yu and Recker [19] | 2 | I, G (5 TL) | PC | No | Adaptive | D, XQL | N | M, X | F |
Stevanovic et al. [21] | – | G (12 TL), A | PC, TV, P | Yes | Actuated | D/PD/TH/TT/TS | M, X | M, X | S |
Villalobos et al. [23] | 1 | I, I (3-leg) | PC | No | Actuated | QL | N | N | F |
Yin [25] | 2 | I | PC | No | Actuated | D | M, X | M | F |
Cai et al. [27] | 1 | I | PC | No | Actuated | D | N | M | S |
Ekeila et al. [29] | – | I, A (1 × 10) | PC, P, TV | Yes | Adaptive | D | N | N | F |
Arel et al. [30] | 2 | G (5 TL) | PC | No | Actuated | D, ICB | N | N | S |
Haddad et al. [32] | 1 | I | PC | No | Actuated | General loss | F | N | N |
Balaji et al. [34] | – | G (29 TL) | PC | No | Actuated | D, TH, VS | N | N | F |
Prashanth and Bhatnagar [36] | N | A (1 × 2,1 × 8), G (2 × 2,3 × 3) | PC | No | Actuated | D, TH | N | N | S |
Liu and Chang [38] | N | A (1 × 4) | PC | No | Actuated | TH/TT | M, X | M | F |
Adacher [40] | – | I | PC (and P) | No | Actuated | D | M, X | M, X | F |
He et al. [41] | 1 | A (1 × 8) | PC, TV, EV | Yes | Actuated | D | N | M, X | S |
McKenney and White [9] | 2 | G (9 × 7) | PC | No | Actuated | VS | F | M | F |
Zheng and Recker [44] | – | G (38 TL) | PC | No | Adaptive | D, TT, XQL, VS | N | M, X | S |
Christofa et al. [46] | N | I, I (6-leg) | PC, P, TV, PTV | Yes | Actuated | PD | F | M, X | F |
Zhang et al. [48] | 2 | A (1 × 4) | PC | No | Actuated | D, E | N | M, X | S |
Varaiya [50] | 1 | A (1 × N) | PC | No | Actuated | TH | M | N | S |
Li et al. [52] | 2 | I | PC | No | Actuated | TH, QL | N | N | S |
He et al. [54] | 1 | A (1 × 2) | PC, P, TV | Yes | Actuated | D | N | M, X | F |
Jin and Ma [55] | 5 | I | PC | No | Actuated | D | N | M, X | S |
Feng et al. [57] | 1 | I | PC | No | Adaptive | D, QL | M, X | M, X | S |
Le et al. [59] | 1–3 | A (1 × 2), G (8 × 9) | PC | No | Actuated | TH | F | N | F |
Hu et al. [61] | N | A (1 × 2) | PC, TV, PTV | Yes | Actuated | D, PD | F | M | F |
Han et al. [63] | 1 | G (2 × 2) | PC | No | Actuated | D, E | N | N | N |
Christofa et al. [65] | 1 | A (1 × N) | PC, P, TV, PTV | Yes | Adaptive | PD | F | M | F |
Choi et al. [67] | N | I | PC | No | Adaptive | D, TH, TT, E, FC, VS | N | N | F |
Portilla et al. [69] | 3 | A (1 × 2) | PC, B | No | Actuated | TT, QL | N | N | F |
Chandan et al. [71] | 5 | I | PC, TV, HGVs | No | Actuated | D, TS | N | M, X | F |
Lee et al. [8] | N | I | PC | No | Adaptive | D/TH | M, X | M, X | S |
Jin and Ma [73] | 5 | I | PC | No | Actuated | D, TH | N | M, X | S |
Aslani et al. [75] | – | G (50 TL) | PC, P | No | Actuated | TT, TS, E, FC | N | N | F |
Li et al. [77] | 2 | A (1 × 3) | PC | No | Actuated | D | M, X | M, X | F |
Wang et al. [79] | 4 | I | PC, B | No | Actuated | D, S | M, X | M | S |
4.1 Network type: isolated intersection, arterial network, or general network
4.2 Type of road users and priority consideration
4.3 Real-time strategies: fixed-time, actuated, or adaptive
4.4 Objectives
4.4.1 Mobility measures
4.4.2 Sustainability measures
4.4.3 Other measures
4.5 Signal timing constraints
4.5.1 Cycle length
4.5.2 Green phase duration
4.5.3 Phase sequence
5 ITSCP classification based on solution methods
Reference | Solution method | Reference | Solution method |
---|---|---|---|
Dunne and Potts [14] | Rule-based | Srinivasan et al. [15] | Simulation, Fuzzy NN, RL |
Gazis [16] | Semi-graphical | Boillot et al. [17] | Heuristic |
Ross et al. [18] | Simulation, Rule-based | Yu and Recker [19] | Simulation, Markov control |
D’ans and Gazis [20] | Mathematical programming | Stevanovic et al. [21] | Simulation, GA |
Michalopoulos [22] | Rule-based | Villalobos et al. [23] | Simulation, Game theory |
Michalopoulos [24] | Rule-based | Yin [25] | Simulation, Heuristic |
Smith [26] | Webster’s method | Cai et al. [27] | RL |
Improta and Cantarella [28] | B&B | Ekeila et al. [29] | Simulation, Rule-based |
Gallivan and Heydecker [7] | Convex programming | Arel et al. [30] | Q-learning |
Gartner et al. [31] | Simulation, B&B | Haddad et al. [32] | Mathematical programming |
Dell’Olmo and Mirchandani [33] | Simulation, Rule-based | Balaji et al. [34] | Simulation, MAS, RL |
Wong [35] | Simulation | Prashanth and Bhatnagar [36] | Simulation, Q-learning |
Sen and Head [37] | Simulation, DP | Liu and Chang [38] | Simulation, GA |
Silcock [39] | Simulation | Adacher [40] | Heuristic |
Spall and Chin [10] | NN | He et al. [41] | Simulation |
De Schutter and De Moor [42] | Mathematical programming | McKenney and White [9] | Simulation, MAS |
Lo [43] | Mathematical programming | Zheng and Recker [44] | Recursive algorithm |
Wong and Yang [45] | Simulation, Heuristic | Christofa et al. [46] | Simulation |
Lee and Kwang [47] | Simulation, Fuzzy rule-based | Zhang et al. [48] | Simulation, GA |
Trabia et al. [49] | Simulation, Fuzzy rule-based | Varaiya [50] | Heuristic |
Niittymaki and Pursula [51] | Simulation, Fuzzy rule-based | Li et al. [52] | Simulation, GA |
Chang and Lin [53] | Heuristic | He et al. [54] | Simulation |
Mirchandani and Head [6] | Simulation, DP | Jin and Ma [55] | Simulation, RL |
Roozemond [56] | MAS | Feng et al. [57] | Simulation, Recursive algorithm |
Lo et al. [58] | Simulation, GA | Le et al. [59] | Simulation, Heuristic |
Wong et al. [60] | Simulation, Heuristic | Hu et al. [61] | Simulation |
De Schutter [62] | Mathematical programming | Han et al. [63] | Mathematical programming |
Dion and Hellinga [64] | Simulation, Rule-based | Christofa et al. [65] | Simulation |
Abdulhai et al. [66] | Q-learning | Choi et al. [67] | Simulation, Heuristic |
Choy et al. [68] | Simulation, RL | Portilla et al. [69] | Model predictive control |
Wong and Wong [70] | B&B | Chandan et al. [71] | Simulation, Rule-based |
Lin and Wang [13] | Mathematical programming | Lee et al. [8] | Simulation, Heuristic |
Chang and Sun [72] | Simulation, Heuristic | Jin and Ma [73] | Simulation, MAS, RL |
Di Febbraro et al. [74] | HPN | Aslani et al. [75] | Simulation, RL |
Murat and Gedizlioglu [76] | Fuzzy rule-based | Li et al. [77] | Heuristic |
Bazzan [78] | Simulation, RL | Wang et al. [79] | GA |
6 Discussion and future research directions
6.1 Trends
6.1.1 Problem features
Phase sequence | Cycle length | Isolated intersection | Arterial network | General network |
---|---|---|---|---|
Fixed | Fixed | [26,46] | [20,24,43,61,65] | [9,59] |
Limited | [18,22,25,40] | [78,38,77] | [35,60,72,74] | |
Not limited | [14,28,49,53,64,17,23,67,71] | [16,6,58,29,54,69] | [10,45,68,19,34,75] | |
Selected among groups | Fixed | |||
Limited | [7,39,57,8,79] | [31,50] | [21] | |
Not limited | [37,51,62,76,27,52,55,73] | [41,48] | [47,30,36,44] | |
Not limited | Fixed | [32] | [33] | |
Limited | [70] | |||
Not limited | [42] | [15,63] |
6.1.2 Solution approach
Analytic method | Rule-based | GA | DP | RL/MAS | ||
---|---|---|---|---|---|---|
Isolated intersection | Fixed | [16,26] | ||||
Actuated | [28,7,62,70,32] | [14,22,49,51,76] | [52,79] | [66,27,55,73] | ||
Adaptive | [42] | [37] | ||||
Arterial network | Fixed | |||||
Actuated | [20,31,43,13] | [24] | [58,38,48] | [78] | ||
Adaptive | [33,29] | [6] | ||||
General network | Fixed | |||||
Actuated | [63] | [47] | [21] | [68,15,30,34,36,9,75] | ||
Adaptive | [44] |