INTERSECTION COLLISION AVOIDANCE BY MEANS OF DECENTRALIZED SECURITY AND COMMUNICATION MANAGEMENT OF AUTONOMOUS VEHICLES

This paper presents an intersection management system which uses a token-based communication protocol among autonomous vehicles in a specified zone around the intersection. This allows for the exchange of information on current position, velocity, and acceleration, which would then factor into the decision on whether or not to enter the intersection. Semaphore-based algorithms are used to ensure collision avoidance. These algorithm allow only one vehicle at a time to stay in a critical segment of an intersection.