The Traffic Control in the Era of Autonomous Driving project extended the Autonomous Intersection Management system (AIM4) developed at the University of Texas. AIM4 simulates intersections navigated by autonomous vehicles but some of the existing protocols, namely stop signs and traffic lights, did not function with multiple intersections and common protocols such as give way and roundabouts were not present. This project resolved these issues by adding the missing protocols and adding support for multiple intersections. In addition, a prototype for both a generic priority-based protocol and the ability to mix and match protocols across intersections was added to the system.
The AIM4 system was written in Java and subsequently extended using Java in this project. The project was a success, as the added functionality was received well by the client and was consistent with the rest of the system.