Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections

Figure 12

First case study: trajectories of the vehicles inside the CR with respect to time, for different traffic intensities. The top, middle, and bottom graphic plots represent the low, medium, and heavy traffic loads with arrival intensities 10, 30, and 50 , respectively. The upper half of the plot corresponds to vehicles of Road 1, while the lower half to vehicles of Road 2.

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