Hierarchical traffic control system

A traffic control system comprising:

• a primary controller, the primary controller for receiving information about traffic in an area, the primary controller including a first plurality of participant objects;
• and
• a plurality of subsidiary controllers for providing information to and receiving information from the primary controller, each of the plurality of subsidiary controllers including a second plurality of participant objects, each of the plurality of subsidiary controllers being associated with a cell within the area, each cell being represented as a plurality of segment objects;
• each of the subsidiary controllers receiving and providing information to at least one vehicle concerning traffic conditions within its associated cell, wherein the primary controller and each of the subsidiary controllers are capable of negotiating a change in the flow of traffic based upon traffic conditions.

A method for causing a vehicle to interact with a traffic control system within an area;

• the method comprising the steps of:
• (a) sending vehicle operation data by the vehicle to a participant object within a traffic controller, wherein the traffic controller comprises a primary controller which includes a first plurality of participant objects and a plurality of subsidiary controllers which communicate with the primary traffic controller, each of the subsidiary controllers including a second plurality of participant objects;
• the primary controller for controlling the area;
• and each of the subsidiary controllers for controlling vehicles within a cell of the area via a plurality of segment objects;
• and
• (b) utilizing the vehicle operation data within the participant object to provide information to other vehicles in the area.