This paper proposes a conceptual framework for designing a traffic control scheme. It adopts a top-down approach to defining major design steps starting with high-level feature definition. With the desired features defined, the top-down approach then identifies and defines moves and related planning and movement functions that are required for supporting the desired features. The paper takes a systems view and identifies the safety issues regarding the movement coordination of the large number of vehicles on an Automated Highway System (AHS).
H.-S. Jacob Tsao. "Traffic Control for Automated Highway Systems: A Conceptual Framework" PATH Research Report (1995).