I. Introduction
Recent engineering developments in automotive control systems for Autonomous Vehicles (AVs) suggest future transportation mobility will be significantly different and opportunities in energy consumption saving and traffic incidence reduction will arise, along with the availability of connectivity through vehicle to vehicle/infrastructure [1]. The AVs are considered the way forward to the future of mobility, because of the possibility of significantly reducing traffic, pollution and travel time [2]. In order to resolve the open challenges and achieve the required performance, different advanced control solutions for AVs have been proposed in the last few years [3] and each control policy has been designed for a particular scenario, e.g. highway travelling or coordinated traffic control [4].