Table 6.

Summary of the studies investigating the impact of AVs on the road and intersection capacity

Study	Results
Friedrich (2016) [40]	The study analysed the impact of AVs on road capacity using the macroscopic traffic flow models. Results showed that AVs with 100% market penetration might provide 1.78 of the capacity of the traditional vehicles with a lane capacity of 3900 veh/hr compared with 2200 veh/hr for conventional vehicles. Additionally, AVs might increase the intersection capacity by 40%
Wagner (2016) [41]	This study estimated the impact of AVs at the intersection level in Braunschweig, Germany using a simulation model for intersections and a simulation of a green wave. Results showed that AVs can double the capacity at intersections and AVs can improve the delay times in the case of sub-optimal coordination because the number of vehicles leave a signal is much more when compared with the case of human drivers. Consequently, AVs can reduce the delays dramatically up to 80%
Securing America’s Future Energy (SAFE) (2018) [42]	This study estimated that AVs can increase the capacity by 50% to 70% with 50% AV market penetration and 320% increase with 100% AV market penetration