A Cooperative Intersection Support Application enabled by SAFE STRIP Technology both for C-ITS equipped, non-equipped and autonomous vehicles

This paper extends a cooperative intersection support system which exploits the concept of mirroring in cognitive science to perform inference of intention and here boosted with additional and more accurate information on intersection scenario provided by the infrastructure. Design principles and the implementation of the algorithms are presented. Several novelties are introduced, among which path planning with human-like trajectories, multiple vehicles intersections and the right of way management. The agent introduced is scalable and general and can be used to generate the manoeuvres for autonomous agents and warnings within driver assistance systems. Simulation results are presented in both those frameworks, autonomous intersection management and driver assistance scenario (warning system).