CAVs use a Raft-inspired voting consensus algorithm to agree on passing order at unsignalized intersections in mixed traffic, reaching consensus in 30-40 ms on average with a vision-based fallback.
Improving traffic safety via traffic flow optimiza- tion of connected and automated vehicles,
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A Distributed Consensus Algorithm for Prioritizing Autonomous Vehicle Passing at Unsignalized Intersections under Mixed Traffic
CAVs use a Raft-inspired voting consensus algorithm to agree on passing order at unsignalized intersections in mixed traffic, reaching consensus in 30-40 ms on average with a vision-based fallback.