Autonomous vehicle control system for critical points with partially instrumented infrastructure and cloud service

An autonomous vehicle (AV) control system for critical points with a partially instrumented connected automated vehicle highway (CAVH) system, comprising:

• an onboard unit (OBU);
• and
• a communication module configured to:
• communicate with one or more at least partially instrumented roadside units (RSUs) forming a partially instrumented RSU network and receive vehicle-specific control instructions from said one or more RSUs corresponding to critical points;
• or
• communicate with a cloud platform serving a partially instrumented CAVH system and receive vehicle-specific control instructions from said cloud platform corresponding to the critical points;
• wherein, the AV control system provides time-sensitive control instructions for controlling vehicles, and a vehicle comprising the OBU executes time-sensitive control instructions for driving tasks.