Remote Vehicle Control at Intersections

A system comprising:

• one or more processors;
• and
• one or more non-transitory memories storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
• determining one or more characteristics of an intersection of two or more lanes of a roadway;
• determining a plurality of compatible movement groups representing allowable movement options of vehicles approaching the intersection;
• calculating delays for the compatible movement groups, respectively;
• selecting a compatible movement group from the plurality of compatible movement groups based on the delays;
• and
• providing control instructions to a set of the vehicles in a control region of the intersection associated with the compatible movement group to control one or more dynamics of each of the vehicles of the set as the vehicles of the set traverse the intersection.

A system comprising:

• means for determining one or more characteristics of an intersection of two or more lanes of a roadway;
• means for determining a plurality of compatible movement groups representing allowable movement options of vehicles approaching the intersection;
• means for calculating delays for the compatible movement groups, respectively;
• means for selecting a compatible movement group from the plurality of compatible movement groups based on the delays;
• and
• means for providing control instructions to a set of the vehicles in a control region of the intersection associated with the compatible movement group to control one or more dynamics of each of the vehicles of the set as the vehicles of the set traverse the intersection.