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Safe and efficient intersection management is critical for an improveddriving experience. As per several studies, an increasing number of crashes andfatalities occur every year at intersections. Most crashes are a consequence ofa lack of situational awareness and ambiguity over intersection crossingpriority. 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 cantransceive basic and/or advanced safety information, thereby improvingsituational awareness at intersections. Although numerous studies have beenperformed 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 assignintersection crossing priorities. In the absence of RSU, there are somedistributed CIM methods that only rely on communication among CAVs forsituational awareness, however, none of them are specifically focused towardsStop Controlled-Intersection (SCI) with the aim of mitigating ambiguity amongCAVs. Thus, we propose an Automated Right-of-Way (AROW) algorithm based ondistributed CIM that is capable of reducing ambiguity and handling any level ofnoncompliance by CAVs. The algorithm is validated with extensive experimentsfor its functionality and robustness, and it outperforms the current solutions.

AROW: A V2X-based Automated Right-of-Way Algorithm for Distributed Cooperative Intersection Management