This research conducts a comprehensive review on the social impacts of Cooperative Automated Driving (CAD), including Infrastructure Enabled Autonomy (IEA). In order for reviewing and summarizing the CAD-related literature in an explicit and logical manner, this research originally classifies literature according to the Cooperative Automation Classes released by SAE. Based on this classification, the research progress of CAD in each class is briefly introduced, involving the objectives, contributions, and challenges of existing CAD studies. Furthermore, the social impacts of CAD on safety, mobility, and sustainability are analyzed, including the investigation into the potential of CAD in performance improvement, the discussion on the reliability of existing research results, and the summary of the key factors influencing the benefit fluctuation. The research results indicate that the benefits of adopting CAD are significant, while with the rise of CAD class, a more significant improvement could be observed. At the end of the paper, the challenges and opportunities for CAD are also summarized, and future studies on CAD are provided.

本研究对协同自动驾驶 (CAD) 的社会影响进行了全面审查，包括基础设施支持的自治 (IEA)。为了以明确和合乎逻辑的方式回顾和总结CAD相关文献，本研究最初根据SAE发布的协同自动化类对文献进行分类。在此分类的基础上，简要介绍了各类CAD的研究进展，涉及现有CAD研究的目标、贡献和挑战。此外，还分析了 CAD 对安全性、机动性和可持续性的社会影响，包括对 CAD 在绩效改进方面的潜力的调查，对现有研究结果可靠性的讨论，以及影响利益波动的关键因素的总结. 研究结果表明，采用 CAD 的好处是显着的，而随着 CAD 级别的提高，可以观察到更显着的改进。在论文的最后，还总结了 CAD 面临的挑战和机遇，并对 CAD 的未来研究进行了展望。