# Priority-based coordination of autonomous and legacy vehicles at intersection

arXiv: https://arxiv.org/abs/1407.5813 · HTML: https://mlsanity.com/paper/1407.5813/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jul 2014.

## Built on by (most cited first, 3 of 3)

- [The Reasonable Crowd: Towards evidence-based and interpretable models of driving behavior](https://mlsanity.com/paper/2107.13507/) (2021)
- [Safety of the Intended Driving Behavior Using Rulebooks](https://mlsanity.com/paper/2105.04472/) (2021)
- [Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning](https://mlsanity.com/paper/2106.06369/) (2021)

## Abstract (arXiv)

Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system with provable collision-free and deadlock-free features has been presented. In this paper, we extend the priority-based approach to support legacy vehicles without compromising above-mentioned features. We make the hypothesis that legacy vehicles are able to keep a safe distance from their leading vehicles. Then we explore some special configurations of system that ensures the safe crossing of legacy vehicles. We implement the extended system in a realistic traffic simulator SUMO. Simulations are performed to demonstrate the safety of the system.