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With the rapid development in vehicular communication technologies, cooperative driving of intelligent vehicles can provide promising efficiency, safety and sustainability to the intelligent transportation systems. In this paper, a centralized cooperative intersection control (CCIC) approach is proposed for the non-signalized intersections under automated vehicle environment. The cooperative intersection control problem is converted to a nonlinear constrained programming problem considering vehicle delay, fuel consumption, emission and driver comfort level. Furthermore, a simulation-based case study is carried out on a four-legged, two-lane non-signalized intersection under different traffic volume scenarios to compare CCIC with the actuated intersection control (AIC) system. The results indicate that the CCIC approach shows significant potential improvements on the traffic efficiency (i.e., nearly 14% of traffic flow …