Abstract
Occasionally, four cars arrive at the four legs of an unsignalized intersection at the same time or almost at the same time. If each lane has a stop sign, all four cars are required to stop. In such instances, gestures are used to communicate approval for one vehicle to leave. Nevertheless, the autonomous vehicle lacks the ability to participate in gestural exchanges. A sophisticated in-vehicle traffic light system has therefore been developed to monitor and facilitate communication among autonomous vehicles and classic car drivers. The fuzzy logic-based system was implemented and evaluated on a self-organizing network comprising eight ESP32 microcontrollers, all operating under the same program. A single GPS sensor connects to each microcontroller that also manages three light-emitting diodes. The ESPNow broadcast feature is used. The system requires no internet service and no large-scale or long-term storage, such as the driving cloud platform, making it backward-compatible with classical vehicles. Simulations were conducted based on the order and arrival direction of vehicles at three junctions. Results have shown that autonomous vehicles at four-legged intersections can now communicate with human drivers at a much lower cost with precise position classification and lane dispersion under 30 s.