  This paper concerns an application of a recently-developed nonlinear tracking
technique to trajectory control of autonomous vehicles at traffic
intersections. The technique uses a flow version of the Newton-Raphson method
for controlling a predicted system-output to a future reference target. Its
implementations are based on numerical solutions of ordinary differential
equations, and it does not specify any particular method for computing its
future reference trajectories. Consequently it can use relatively simple
algorithms on crude models for computing the target trajectories, and
more-accurate models and algorithms for trajectory control in the tight loop.
We demonstrate this point at an extant predictive traffic planning-and-control
method with our tracking technique. Furthermore, we guarantee safety
specifications by applying to the tracking technique the framework of control
barrier functions.
