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Rule-based and optimization-based autonomous intersection management (AIM) policies have been evaluated against traditional signal controls in terms of intersection safety, efficiency and emission. As one of AIM policies, reservation-based control has further taken advantage of the benefits of AIM, especially via optimization approaches. This paper presents a time-independent trajectory optimization approach for connected and autonomous vehicles under reservation-based intersection control. The existing approaches assign an arrival time and speed to vehicles ahead of entering the intersection. However, the vehicles may not follow the planned trajectory once the traffic condition varies sharply and thus the trajectory solution becomes infeasible with respect to the assigned arrival time and speed. The proposed approach aims to solve the fail-follow problem by separating the optimization between arrival time …