Control methods for the coordination of autonomous vehicles at intersections

The paper defines the main challenges related to the determination of the ordering of vehicles at an intersection and proposes a general coordination method for autonomous vehicles to avoid collisions in intersection scenarios. The minimization of traveling time and energy optimality as performances of vehicles are incorporated in the iterative control procedure, and the goal of the research is to secure the collision-free passage of autonomous vehicles through the intersection. The proposed coordination method is demonstrated by several simulation examples made in a high-accuracy simulation environment to present its efficiency.