I. Introduction
Automated vehicles (AV) today either operate in a reactive way by solely basing their actions on sensor readings or exploit an uncertain estimate of future motion trajectories of other road users to be more proactive. With vehicleto-vehicle (V2V) communication, more reliable information about future trajectories of the surrounding traffic can be adopted to operate the AV more efficiently [1]. Especially in intersections, throughput could significantly be improved when, instead of using traffic lights or signs, vehicles would negotiate intersection crossing using V2V communication.