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With the advent of autonomous driving technologies, traffic control atintersections is expected to experience revolutionary changes. Various novelintersection control methods have been proposed in the existing literature, andthey can be roughly divided into two categories: vehicle-based traffic controland phase-based traffic control. Phase-based traffic control can be treated asupdated versions of the current intersection signal control with theincorporation of the performance of autonomous vehicle functions. Meanwhile,vehicle-based traffic control utilizes some brand-new methods, mostly inreal-time fashion, to organize traffic at intersections for safe and efficientvehicle passages. However, to date, no systematic comparison between these twocontrol categories has been performed to suggest their advantages anddisadvantages. This paper conducts a series of numerical simulations undervarious traffic scenarios to perform a fair comparison of their performances.Specifically, we allow trajectory adjustments of incoming vehicles underphasebased traffic control, while for its vehicle-based counterpart, weimplement two strategies, i.e., the first-come-first-serve strategy and theconflict-point based rolling-horizon optimization strategy. Overall, thesimulation results show that vehicle-based traffic control generally incurs anegligible delay when traffic demand is low but lead to an excessive queuingtime as the traffic volume becomes high. However, performance of vehicle-basedtraffic control may benefit from reduction in conflicting vehicle pairs. Wealso discovered that when autonomous driving technologies are not mature, theadvantages of phase-based traffic control are much more distinct.

Simulation Comparisons of Vehicle-based and Phase-based Traffic Control for Autonomous Vehicles at Isolated Intersections