  An important question for the practical applicability of the highly efficient
traffic intersection control is about the minimal level of intelligence the
vehicles need to have so as to move beyond the traffic light control. We
propose an efficient intersection traffic control scheme without the traffic
lights, that only requires a majority of vehicles on the road to be equipped
with a simple driver assistance system. The algorithm of our scheme is
completely decentralized, and takes into full account the non-linear
interaction between the vehicles at high density. For vehicles approaching the
intersection in different directions, our algorithm imposes simple interactions
between vehicles around the intersection, by defining specific conditions on
the real-time basis, for which the involved vehicles are required to briefly
adjust their dynamics. This leads to a self-organised traffic flow that is
safe, robust, and efficient. We also take into account of the driver comfort
level and study its effect on the control efficiency. The scheme has low
technological barrier, minimal impact on the conventional driving behaviour,
and can coexist with the traffic light control. It also has the advantages of
being easily scalable, and fully compatible with both the conventional road
systems as well as the futuristic scenario in which driverless vehicles
dominate the road. The mathematical formulation of our scheme permits large
scale realistic numerical simulations of busy intersections, allowing a more
complete evaluation of the control performance, instead of just the collision
avoidance at the intersection.
