The use of traffic lights to control traffic flow at intersections is a long-standing means to promote traffic safety and efficiency. While traffic lights and intersection-based signs are the predominant means of controlling traffic flow, other systems of intersection-based traffic management have been the subject of some experimentation. US20140278029 illustrates the self-organizing smart traffic control system. The self-organizing smart traffic control system exploits vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. V2V and V2I communication enables development of the dynamic traffic control plan (DTCP) by the central city traffic planner that can resolve the travel-priority conflict in the potential-conflict zone and optimize the traffic flow.