Safe and efficient intersection management is critical for an improved
driving experience. As per several studies, an increasing number of crashes and
fatalities occur every year at intersections. Most crashes are a consequence of
a lack of situational awareness and ambiguity over intersection crossing
priority. In this regard, research in Cooperative Intersection Management (CIM)
is considered highly significant since it can utilize Vehicle-to-Everything
(V2X) communication among Connected and Autonomous Vehicles (CAVs). CAVs can
transceive basic and/or advanced safety information, thereby improving
situational awareness at intersections. Although numerous studies have been
performed on CIM, most of them are reliant on the presence of a Road-Side Unit
(RSU) that can act as a centralized intersection manager and assign
intersection crossing priorities. In the absence of RSU, there are some
distributed CIM methods that only rely on communication among CAVs for
situational awareness, however, none of them are specifically focused towards
Stop Controlled-Intersection (SCI) with the aim of mitigating ambiguity among
CAVs. Thus, we propose an Automated Right-of-Way (AROW) algorithm based on
distributed CIM that is capable of reducing ambiguity and handling any level of
noncompliance by CAVs. The algorithm is validated with extensive experiments
for its functionality and robustness, and it outperforms the current solutions