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We study intersection access control for autonomous vehicles. Platoon formingalgorithms, which aim to organize individual vehicles in platoons, are verypromising. To create those platoons, we slow down vehicles before the actualarrival at the intersection in such a way that each vehicle can traverse theintersection at high speed. This increases the capacity of the intersectionsignificantly, offering huge potential savings with respect to travel timecompared to nowadays traffic.  We propose several new platoon forming algorithms and provide an approximatemean delay analysis for our algorithms. A comparison between the current daypractice at intersections (through a case study in SUMO) and our proposedalgorithms is provided. Simulation results for fairness are obtained as well,showing that platoon forming algorithms with a low mean delay sometimes arerelatively unfair, indicating a potential need for balancing mean delay andfairness.

Platoon Forming Algorithms for Intelligent Street Intersections