A hierarchical traffic control system is disclosed. The traffic control system
comprises a primary controller. The primary controller receives information about
traffic in an area. The system further includes a plurality of subsidiary controllers.
The subsidiary controllers provide information to and receive information from
the primary controller. Each of the plurality of subsidiary controllers is associated
with a cell within the area. Each of the subsidiary controllers receives and provides
information to at least one vehicle concerning traffic conditions within its associated
cell. The primary controller and each of the subsidiary controllers are capable
of negotiating a change in the flow of traffic based upon traffic conditions. In
this system, at least one vehicle within the traffic includes a third-party permission
for operation.
