  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.
