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：安全高效的交叉口管理对改善驾驶体验至关重要。多项研究表明，每年发生在交叉口的碰撞和伤亡事故数量呈上升趋势。大多数碰撞事故源于对交叉口通行优先级缺乏态势感知和存在歧义。在此背景下，协同交叉口管理（CIM）研究因其可利用互联自动驾驶车辆（CAV）间的车联网（V2X）通信而具有重要意义。CAV能够收发基础及高级安全信息，从而提升交叉口处的态势感知能力。尽管已有大量关于CIM的研究，但多数依赖路侧单元（RSU）作为集中式交叉口管理器分配通行优先级。在缺少RSU的情况下，现有分布式CIM方法仅通过CAV间通信获取态势感知，但尚无专门针对停止控制交叉口（SCI）以减少CAV间歧义的研究。为此，我们提出一种基于分布式CIM的自动化通行权（AROW）算法，该算法能够降低歧义并应对CAV任意程度的违规行为。通过大量实验验证了算法的功能性与鲁棒性，结果表明其性能优于现有方案。