Fig 1.
Distance between consecutive vehicles.
Fig 2.
Two-way crossing with 3 lanes.
Fig 3.
Illustration of the objective function.
Fig 4.
Simulation algorithm flowchart.
Fig 5.
Flow chart of the decision method.
Table 1.
Minimum and maximum values, amplitude, mean and standard deviation of the speed averages for each distance.
Fig 6.
Histogram of the number of collisions without the interference of the controller.
Table 2.
Number of collisions with and without the use of the controller and number of simulations with collisions for each distance D.
Fig 7.
Graph of the number of collisions with the use of the controller.
Fig 8.
Graph of the sum of all collisions under the action the controller for each vehicle group size.