Cyber-Physical Systems

244  ◾  Cyber-Physical Systems

of course, after a green signal is given. Another idea was instead of aligning to the specified gap,

the vehicle would stay a safe distance from the vehicle in front and at the back, called a safety

zone. Within all of the literature reviewed by these authors it was assumed that the vehicles are

automated and knew the others’ status. ese assumptions are not valid in a mixed traffic situa-

tion because of the almost impossible task of scheduling the order in which merging takes place

for manual vehicles [5].

17.3.2 Merging Assistant for Mixed Traffic

We now consider the merging assistant in a mixed traffic situation, where ...