The development of autonomous vehicle or self-driving car integrates with the wireless communication technology which would be a forward step for road transportation in the near future. The autonomous crossing of an intersection with an autonomous vehicle will play a crucial role in the future of intelligent transportation system (ITS). The fundamental objectives of this work are to manage autonomous vehicles crossing an intersection with no collisions, maintaining that a vehicle drives continuously, and to decrease the waiting time at an intersection. In this paper, a discrete model of the one-way single intersection is designed. The vehicle-to-infrastructure (V2I) communication is implemented to exchange information between a vehicle and an intersection manager which is the roadside infrastructure. The safe trajectory of autonomous vehicles for the autonomous intersection management is determined and presented by using discrete mathematics.

The vehicle platoon controller to be presented here plays a n important part in t h e latest generation of the decentralised, autonomous intersection management. I t is the executing instance in the intersection management and combines the results from different optimisations done by the vehicles on their way into the intersection in order to ensure optimum crossing of the intersection. To do so it must not only be platoon-stable b u t also have a n enlarged functionality in comparison to a conventional platoon controller.I n the following we will present all relevant aspects for the design of the platoon controller and its use in simulations of the intersection management.

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Zusammenfassung In absehbarer Zukunft werden Fahrzeuge in der Lage sein, in bestimmten Verkehrssituationen autonom und kooperativ zu handeln. Eine derartige Situation kann beispielsweise das autonome Überqueren von ampelfreien Kreuzungen sein. Für dieses Szenario wird eine Lö-sungsmethodik vorgestellt, die sowohl für den Einsatz unter Echtzeitbedingungen als auch für die Berücksichtigung unterschiedlicher Optimierungszielgrößen geeignet ist. Der Algorithmus liefert optimale Trajektorien bezüglich dieser Zielgrößen bei gleichzeitiger Garantie der Kollisionsfreiheit.Summary In the foreseeable future, sensor systems and information processing will reach a development status that enables vehicles to act autonomously and in cooperation in certain traffic situations. Such a situation may be the autonomous crossing of intersections for which a possible solution method will be presented in the following. The method is suitable both for use under real-time conditions and for taking into account the most diverse optimisation objectives. The algorithm yields optimal trajectories with respect to these objectives in real time while guaranteeing collision-free operation.