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A reservation-based autonomous intersection control system, named Autonomous Control of Urban Traffic (ACUTA) manages autonomous vehicles in the vicinity of an intersection to allow them to pass through the intersection without any conflict and few stops. Enhancements consisting of advance stop location (ASL), non-deceleration zone (NDZ) and priority reservation (PR) were introduced and incorporated in ACUTA to improve operational issues identified in previous studies. Simulated results showed that all three operational enhancement strategies were effective in reducing intersection delay.

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A Next-Generation Intersection Control Algorithm for Autonomous Vehicles
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