Junction queueing

A method comprising:

• determining that a first vehicle is located at a first position relative to a first stopping position of a junction;
• determining a first score associated with the first vehicle based at least in part on the first position;
• determining that a second vehicle is located at a second position relative to a second stopping position of the junction;
• determining a second score associated with the second vehicle based at least in part on the second position;
• determining, based at least in part on the first score and the second score, a rank of the first vehicle in a queue;
• and
• controlling the first vehicle based at least in part on the rank of the first vehicle in the queue.

One or more computer-readable media storing instructions that when executed by one or more processors perform operations comprising:

• determining that a first vehicle is positioned at a junction, the first vehicle associated with a first position relative to a first stopping position of the junction;
• determining a first score associated with the first vehicle based at least in part on the first position;
• determining that a second vehicle is positioned at the junction, the second vehicle associated with a second position relative to a second stopping position of the junction;
• determining a second score associated with the second vehicle based at least in part on the second position;
• determining, based at least in part on the first score and the second score, a rank of the first vehicle in a queue;
• and
• controlling the first vehicle based at least in part on a rank of the first vehicle in the queue.