Reducing Waiting Time at an Intersection with Autnomous and Non-autonomous Vehicles

It has been observed that some vehicles do not use inter-vehicle or inter-road communication in the mixed environment of autonomous vehicles and human-operated vehicles. Therefore, the traffic flow in mixed environments may be worse than in the case in which the environment includes only autonomous vehicles. In our previous research, we proposed a protocol for this environment. However, our evaluation was restricted to limited areas. In this paper, we evaluate our protocol for wide areas and discuss our results.