Patent attributes
A system jointly controls vehicles according to traffic configuration of a zone of intersection of a first road and a second road. The intersection zone includes a sequencing zone and a control zone covering sections of the first and the second road in proximity to the intersection. The system groups vehicles traveling within the sequencing zone on the first and the second roads into a set of groups of the vehicles and prevents the vehicles of different groups to travel concurrently in the control zone such that the first vehicle of the following group cannot pass the last vehicle of the preceding group. The system determines motion trajectories for the vehicles of the same group traveling in the control zone on the first and the second roads to pass the intersection and transmits the motion trajectories to the corresponding vehicles.
