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Over the last decade, the increase in the number of vehicles has affected traffic performance, causing traffic congestion. However, intersections, where different flows intersect, are among the primary causes of traffic congestion besides bottlenecks. Bottlenecking in the minor stream is mainly due to the extended queueing, specifically due to minimal gaps in the mainline stream as the intersection’s high priority exists with the major stream. This research aims to control connected and automated vehicles (CAVs) to help generate additional usable gaps for the minor road vehicles to enter the intersection without interrupting the mainline traffic flow. A probability function is developed to estimate the probability of CAVs creating additional usable gaps. The proposed logic is simulated in unsignalized and semi-actuated signalized intersections, and a field investigation is conducted. Simulation results show that the …