Safe and efficient intersection management is critical for an improved driving experience. As per several studies, an increasing number of crashes and fatalities occur every year at intersections. Most crashes are a consequence of a lack of situational awareness and ambiguity over intersection crossing priority. In this regard, research in Cooperative Intersection Management (CIM) is considered highly significant since it can utilize Vehicle-to-Everything (V2X) communication among Connected and Autonomous Vehicles (CAVs). CAVs can transceive basic and/or advanced safety information, thereby improving situational awareness at intersections. Although numerous studies have been performed on CIM, most of them are reliant on the presence of a Road-Side Unit (RSU) that can act as a centralized intersection manager and assign intersection crossing priorities. In the absence of RSU, there are some distributed CIM methods that only rely on communication among CAVs for situational awareness, however, none of them are specifically focused towards Stop Controlled-Intersection (SCI) with the aim of mitigating ambiguity among CAVs. Thus, we propose an Automated Right-of-Way (AROW) algorithm based on distributed CIM that is capable of reducing ambiguity and handling any level of noncompliance by CAVs. The algorithm is validated with extensive experiments for its functionality and robustness, and it outperforms the current solutions.

翻译：安全和高效的路口管理对于改善驾驶体验至关重要。根据多项研究，每年在路口发生越来越多的车祸和死亡事件。大多数事故是由于缺乏情境意识和交叉口穿越优先级的不确定性所导致。在这方面，协作路口管理（CIM）的研究被认为是非常重要的，因为它可以利用连接和自主车辆（CAV）之间的车到一体化（V2X）通信。CAV可以传输基本和/或先进的安全信息，从而提高了交叉口的情境意识。尽管已经进行了大量CIM的研究，其中大部分依赖于路侧单元（RSU）的存在，而RSU可以作为集中式交叉口管理器并分配交叉口穿越优先权。在没有RSU的情况下，有一些分布式CIM方法仅依赖于CAV之间的通信以实现情境意识，但均没有专门针对停止控制交叉口（SCI），旨在减少CAV之间的不确定性。因此，我们提出了一个基于分布式CIM的Automated Right-of-Way（AROW）算法，能够减少不确定性并处理CAV的任何级别的不合规行为。通过广泛的实验验证其功能和鲁棒性，证实该算法优于现有的解决方案。