The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles distributively negotiate crossing priorities by a Consensus-Based Auction Algorithm (CBAA-M). Then, each agent solves a nonlinear Model Predictive Control (MPC) problem that computes the optimal trajectory avoiding collisions with higher priority vehicles and deciding the crossing order. The scheme is shown to be real-time capable and able to respond to sudden priority changes, e.g. if a vehicle gets an emergency call. Simulations reinforce theoretical results.
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