  Vehicle-to-vehicle (V2V) communication is a key component of the future
autonomous driving systems. V2V can provide an improved awareness of the
surrounding environment, and the knowledge about the future actions of nearby
vehicles. However, V2V communication is subject to different kind of failures
and delays, so a distributed fault-tolerant approach is required for safe and
efficient transportation. This work considers fully autonomous vehicles that
operates using local sensory information, and aided with fault-tolerant V2V
communication. The sensors provide all basic functionality, but are overridden
by V2V whenever is possible to increase the efficiency. As an example scenario,
we consider intersection crossing (IC) with autonomous vehicles that cooperate
via V2V communication, and propose a fully distributed and a fault-tolerant
algorithm for this problem. According to our numerical results, based on a real
data set, we show the crossing delay is only slightly increased in the presence
of a burst of V2V failures, and that V2V can be successfully used in most
scenarios.
