Spatial relationship information and performance information are determined for vehicles within a vehicular environment. Traffic signaling information is received from a traffic regulation system associated with the vehicular environment. At least one synchronized control action is calculated for each of the vehicles to synchronize the vehicles with the traffic regulation system based upon the traffic signaling information, the determined spatial relationship information, and the determined performance information for each of the vehicles. The associated at least one synchronized control action is communicated to each of the vehicles. This abstract is not to be considered limiting, since other embodiments may deviate from the features described in this abstract.