Hardware-in-the-Loop Demo of a Cooperative Intersection where Cars don't Stop

Lorenzo Farina; Matteo Piccoli; Salvatore Iandolo; Antonio Solida; Carlo Augusto Grazia; Marco Rapelli; Francesco Raviglione; Claudio Casetti; Alessandro Bazzi

doi:10.1109/cscn67557.2025.11230601

arXiv · 2610.13320

Hardware-in-the-Loop Demo of a Cooperative Intersection where Cars don't Stop

Lorenzo Farina·Matteo Piccoli·Salvatore Iandolo·Antonio Solida·Carlo Augusto Grazia·Marco Rapelli·Francesco Raviglione·Claudio Casetti·Alessandro Bazzi

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Abstract

The road transportation sector is undergoing a radical transformation, working for a future where all vehicles will be autonomous and connected. A key challenge in this vision concerns intersections, which will no longer rely on traffic lights or traditional right-of-way rules. Instead, algorithms and communication protocols will be employed to optimize traffic flow. In this context, we are developing a testbed where cars equipped with wireless connectivity exchange information with a remote controller and coordinate their maneuvers. As the vehicles navigate through different types of intersections with various routes, they communicate with the controller, adjusting their speed to pass through intersections without stopping. This demo specifically showcases a hardware-in-the-loop (HiL) implementation of such intelligent intersection, using the SUMO traffic simulator to emulate vehicle positions. Real hardware and software components, which are designed for use in vehicles and roadside infrastructure, are employed to enable real-time data exchange of contextual and control information, running the cooperative coordination algorithm.

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Lorenzo Farina, Matteo Piccoli, Salvatore Iandolo, Antonio Solida, Carlo Augusto Grazia, Marco Rapelli, Francesco Raviglione, Claudio Casetti, Alessandro Bazzi. 2026-10-09. Hardware-in-the-Loop Demo of a Cooperative Intersection where Cars don't Stop. https://doi.org/10.1109/cscn67557.2025.11230601

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