Reservation-Based Cooperative Intersection Crossing Scheme for Autonomous Driving in the Intersection

This paper presents a scheme for crossing an intersection with no traffic light where multiple autonomous vehicles coming from different lanes must travel without collision. The focus of this paper is on the design of the reservation-based scheduling algorithm that determines the trajectories of the vehicles at the intersection under the assumption that the vehicles move at a predetermined constant speed in the intersection. Simulation shows that our solution can effectively schedule the entrance of the vehicles to the intersection and maintain the minimum distance between vehicles while traveling in the intersection. It is also shown that our proposed algorithm is fast enough to be used in real time.