  Non-signalized intersection is a typical and common scenario for connected
and automated vehicles (CAVs). How to balance safety and efficiency remains
difficult for researchers. To improve the original Responsibility Sensitive
Safety (RSS) driving strategy on the non-signalized intersection, we propose a
new strategy in this paper, based on right-of-way assignment (RWA). The
performances of RSS strategy, cooperative driving strategy, and RWA based
strategy are tested and compared. Testing results indicate that our strategy
yields better traffic efficiency than RSS strategy, but not satisfying as the
cooperative driving strategy due to the limited range of communication and the
lack of long-term planning. However, our new strategy requires much fewer
communication costs among vehicles.
