Reservation-Based Intersection Crossing Scheme for Autonomous Vehicles Traveling in a Speed Range

This paper presents an autonomous intersection management scheme using reservation-based scheduling. The scheme coordinates the access of the autonomous vehicles to an intersection without a traffic light such that all vehicles can travel across the intersection without collision. In this paper, we make our model applicable to real-world system by allowing the vehicles to move within a predefined speed range while in the intersection. Simulation shows the effect of the speed range size to the efficiency of the system.