  Intersection is a major source of traffic delays and accidents within modern
transportation systems. Compared to signalized intersection management,
autonomous intersection management (AIM) coordinates the intersection crossing
at an individual vehicle level with additional flexibility. AIM can potentially
eliminate stopping in intersection crossing due to traffic lights while
maintaining a safe separation among conflicting movements. In this paper, the
state-of-the-art AIM research among various disciplines (e.g., traffic
engineering, control engineering) is surveyed from the perspective of three
hierarchical layers: corridor coordination layer, intersection management
layer, and vehicle control layer. The key aspects of AIM designs are discussed
in details, including conflict detection schemes, priority rules, control
centralization, computation complexity, etc. The potential improvements for AIM
evaluation with the emphasis of realistic scenarios are provided. This survey
serves as a comprehensive review of AIM design and provides promising
directions for future research.
