Fig. 4
From: Visible light communication-based traffic control of autonomous vehicles at multi-lane roundabouts
![Fig. 4](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs13638-020-01737-x/MediaObjects/13638_2020_1737_Fig4_HTML.png)
Lane conflict graph
From: Visible light communication-based traffic control of autonomous vehicles at multi-lane roundabouts
Lane conflict graph