  Intersection management with mixed cooperative and non-cooperative vehicles
is crucial in next-generation transportation systems. For fully non-cooperative
systems, a minimax scheduling framework was established, while it is
inefficient in mixed systems as the benefit of cooperation is not exploited.
This letter focuses on the efficient scheduling in mixed systems and proposes a
two-stage policy that makes full use of the cooperation relation. Specifically,
a long-horizon self-organization policy is first developed to optimize the
passing order of cooperative vehicles in a distributed manner, which is proved
convergent when inbound roads are sufficiently long. Then a short-horizon
trajectory planning policy is proposed to improve the efficiency when an
ego-vehicle faces both cooperative and non-cooperative vehicles, and its safety
and efficiency are theoretically validated. Furthermore, numerical simulations
verify that the proposed policies can effectively reduce the scheduling cost
and improve the throughput for cooperative vehicles.
