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We build on our recent work on formalization of responsibility-sensitivesafety (RSS) and present the first formal framework that enables mathematicalproofs of the safety of control strategies in intersection scenarios.Intersection scenarios are challenging due to the complex interaction betweenvehicles; to cope with it, we extend the program logic dFHL in the previouswork and introduce a novel formalism of hybrid control flow graphs on which ouralgorithm can automatically discover an RSS condition that ensures safety. AnRSS condition thus discovered is experimentally evaluated; we observe that itis safe (as our safety proof says) and is not overly conservative.

Formal Verification of Intersection Safety for Automated Driving