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Autonomous vehicles are appearing in our streets, and will soon populate our transportation infrastructures, which must be equipped with appropriate sensors and actuators in order to manage vehicles in a fruitful way. Besides the infrastructures, appropriate algorithms must be defined in order to coordinate the vehicles and to enable them to exploit the resources in a fair yet effective way. In the immediate future, autonomous vehicles must coexist human-driven vehicles, and this transitory scenario poses several challenges in coordinating both kinds to exploit street resources. One of these resources, whose management is quite challenging, is represented by intersections: vehicles come and aim at passing the intersection, often as soon as possible, but they must compete with other vehicles having the same aim. A possible approach that has been used in literature to this problem uses auction based …