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This paper addresses the traffic management problem for autonomous vehiclesat intersections without traffic signals. In the current system, a roadjunction has no traffic signals when the traffic volume is low to medium.Installing infrastructure at each unsignalled crossing to coordinate autonomouscars can be formidable. We propose a novel low-cost solution strategy where thevehicles use a harmony matrix to find the best possible combination of the carsto cross the intersection without any crashes. The harmony matrix defines theconnection between different vehicle maneuvers and is queried online forintersection management. We maximize the throughput of the intersection bysolving a maximal clique problem formulated based on the vehicles present atthe intersection. The proposed algorithm relies on the intent perceived by theautonomous vehicles. We compare our work with a communication-based strategythat uses V2I communication protocols, and through extensive simulation, weshowed that our algorithm is comparable when the traffic volume is less than500 PCUs/hr/lane.

A low-cost Framework for Decentralized Autonomous Intersection Management