  Autonomous driving is a safety critical application of sensing and
decision-making technologies. Communication technologies extend the awareness
capabilities of vehicles, beyond what is achievable with the on-board systems
only. Nonetheless, issues typically related to wireless networking must be
taken into account when designing safe and reliable autonomous systems. The aim
of this work is to present a control algorithm and a communication paradigm
over 5G networks for negotiating traffic junctions in urban areas. The proposed
control framework has been shown to converge in a finite time and the
supporting communication software has been designed with the objective of
minimising communication delays. At the same time, the underlying network
guarantees reliability of the communication. The proposed framework has been
successfully deployed and tested, in partnership with Ericsson AB, at the
AstaZero proving ground in Goteborg, Sweden. In our experiments, three
autonomous vehicles successfully drove through an intersection of 235 square
meters in a urban scenario.
