This revelation provides an algorithm for dissolving a street resource claim. A road resource shall be identified in accordance with one or more control-command message(s) received on the vehicle via a vehicle transmitter, with the vehicle and one or more other vehicles competing for the road resource, and shall include a part of a road, which is to be crossed by the vehicle and also by one or more other vehicles. A contradiction resolution procedure shall be carried out to determine whether the vehicle gains access to the road resource,where the contradiction resolution procedure is carried out independently of each vehicle and one or more other vehicles. Access to the road resource shall be granted to one or more vehicles on the basis of the conflict resolution procedure.
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