The 5G network technologies are intended to accommodate innovative services with a large influx of data traffic with lower energy consumption and increased quality of service and user quality of experience levels. In order to meet 5G expectations, heterogeneous networks (HetNets) have been introduced. They involve deployment of additional low power nodes within the coverage area of conventional high power nodes and their placement closer to user underlay HetNets. Due to the increased density of small-cell networks and radio access technologies, radio resource management (RRM) for potential 5G HetNets has emerged as a critical avenue. It plays a pivotal role in enhancing spectrum utilization, load balancing, and network energy efficiency. In this paper, we summarize the key challenges, i.e., cross-tier interference, co-tier interference, and user association-resource-power allocation (UA-RA-PA) emerging in 5G HetNets and highlight their significance. In addition, we present a comprehensive survey of RRM schemes based on interference management (IM), UA-RA-PA and combined approaches (UA-RA-PA + IM). We introduce a taxonomy for individual (IM, UA-RA-PA) and combined approaches as a framework for systematically studying the existing schemes. These schemes are also qualitatively analyzed and compared to each other. Finally, challenges and opportunities for RRM in 5G are outlined, and design guidelines along with possible solutions for advanced mechanisms are presented.