“…For this, we consider two cases: 1) all vehicles travel with a constant speed of 30 m/s; and 2) vehicles have random constant speeds uniformly distributed between 20 and 30 m/s. For the first case, we evaluate the performance of the scheduler when the vehicles are predicted to have the same constant speed of 5,15,30,35 and 45 m/s, as well as random constant speeds uniformly distributed between 5-15, 15-25, 25-35, 35-45 and 45-55 m/s. For the second case, we evaluate the effect of vehicles being predicted to have the same constant speed of 5,15,25,35 and 45 m/s, together with the predictions of random constant speeds distributed uniformly between 5-15, 20-30, 25-35, 35-45 and 45-55 m/s.…”