  This paper addresses the traffic management problem for autonomous vehicles
at intersections without traffic signals. In the current system, a road
junction has no traffic signals when the traffic volume is low to medium.
Installing infrastructure at each unsignalled crossing to coordinate autonomous
cars can be formidable. We propose a novel low-cost solution strategy where the
vehicles use a harmony matrix to find the best possible combination of the cars
to cross the intersection without any crashes. The harmony matrix defines the
connection between different vehicle maneuvers and is queried online for
intersection management. We maximize the throughput of the intersection by
solving a maximal clique problem formulated based on the vehicles present at
the intersection. The proposed algorithm relies on the intent perceived by the
autonomous vehicles. We compare our work with a communication-based strategy
that uses V2I communication protocols, and through extensive simulation, we
showed that our algorithm is comparable when the traffic volume is less than
500 PCUs/hr/lane.
