Table 1.

Benefits and downside of CACC and hybrid trajectory.

	Benefits	Disadvantage
CACC	Allows short gaps between vehicles	No actions/usage in the lateral component
	Ease of handling the gap for cut-in, cut-out maneuvers
	Easy implementation	Difficult lateral displacement
	Low computational cost
	String stability guaranteed
Hybrid trajectory	Actions in both longitudinal and lateral components	Average to high computational cost
	Allows lateral maneuvers such as lane-change
	Collision avoidance through projections of future states	No short gaps allowed
	Passenger comfort guaranteed
	Easy-to-medium implementation