A computer-implemented method of controlling vehicle traffic through an intersection comprising: receiving a request, by one or more processors of a traffic flow controller and from each of a plurality of vehicles, to use the intersection; allocating, by the one or more processors and to a first subset of the plurality of vehicles, a first ticket to use the intersection; allocating, by the one ormore processors and to a second subset of the plurality of vehicles, a second ticket to use the intersection; authorizing, by the one or more processors, the first subset of the plurality of vehiclesto use the intersection; determining, by the one or more processors, that all vehicles of the first subset of the plurality of vehicles have cleared the intersection; and authorizing, by the one or more processors, the second subset of the plurality of vehicles to use the intersection.