In one embodiment, a system displays a priority sign for a first road and a yield sign for a second road as a default right of way for a road intersection. The system receives signals from one or more X2X sensors detecting a traffic flow for a predetermined segment of road for each of the first and the second roads before the road intersection. If it is determined the traffic flow of the first road has no vehicle and the traffic flow of the second road includes at least one vehicle, the system initiates a first timer to count a predetermined time duration. If the traffic flow of the first road is determined to remain with no vehicle for the predetermined time duration, the system reverses the default right of way for the intersection so traffic signs for the first road displays yield and the second road displays priority.