Figure 5
From: Planning and Decision-making for Connected Autonomous Vehicles at Road Intersections: A Review
Schematic for the “1 + n” mixed platoon (Red arrows denote the information flow of the leading CAV (colored in red), which collects information from the following HDVs as well as the traffic light and has an external control input. Black arrows represent the information flow of the HDVs (colored in black), which are under control by human drivers and only acquire information from the preceding vehicle)