  In this dissertation, we address a problem of safe and efficient intersection
crossing traffic management of autonomous and connected ground traffic. Toward
this objective, an algorithm that is called the Discrete-time occupancies
trajectory based Intersection traffic Coordination Algorithm (DICA) is
proposed. All vehicles in the system are Connected and Autonomous Vehicles
(CAVs) and capable of wireless Vehicle-to-Intersection communication. In the
proposed framework, an intersection coordinates the motions of CAVs based on
their proposed DTOTs to let them cross the intersection efficiently while
avoiding collisions. In case when there is a collision between vehicles' DTOTs,
the intersection modifies conflicting DTOTs to avoid the collision and requests
CAVs to approach and cross the intersection according to the modified DTOTs. We
then prove that the basic DICA is deadlock free and also starvation free. We
also show that the basic DICA is conservative in computational complexity and
improve it by several computational approaches.
  Next, we addressed the problem of evacuating emergency vehicles as quickly as
possible through autonomous and connected intersection traffic in this
dissertation. The proposed intersection control algorithm Reactive DICA aims to
determine an efficient vehicle-passing sequence which allows the emergency
vehicle to cross an intersection as soon as possible while the travel times of
other vehicles are minimally affected. When there are no emergency vehicles
within the intersection area, the vehicles are controlled by DICA. When there
are emergency vehicles entering communication range, we prioritize emergency
vehicles through optimal ordering of vehicles. A genetic algorithm is proposed
to solve the optimization problem which finds the optimal vehicle sequence that
gives the emergency vehicles the highest priority.
