Traffic signals play a crucial role in managing urban traffic, and they come in various types, including traffic control signals, fixed-time signals, manually operated signals, traffic-actuated (automatic) signals, pedestrian signals, and special traffic signals. In the United States, the implementation of Traffic Signal Priority (TSP) initially faced several challenges, including: • Technical feasibility and cost concern • Inaccurate vehicle detection technologies • Limited deployment of vehicle location systems • Lack of standardization • Incompatible traffic signal controllers • Centralized TSP complexities • Centralized Traffic Signal Priority A Centralized TSP system manages priority requests from multiple transit vehicles through a central control system. Equipped with GPS technology, transit vehicles can directly communicate with the traffic management center. This allows the system to assess multiple priority requests in real-time and determine the best course of action.