Centralized priority-based coordination of connected vehicles reduces waiting time and increases throughput in mixed urban traffic with as few as 40% cooperative vehicles.
Cooperative Maneuver Planning for Mixed Traffic at Unsignalized Intersections Using Prob- abilistic Predictions,
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Generalized Coordination of Partially Cooperative Urban Traffic
Centralized priority-based coordination of connected vehicles reduces waiting time and increases throughput in mixed urban traffic with as few as 40% cooperative vehicles.