Connected and automated vehicles (CAVs) will become the mainstream of urban traffic. However

the existing scheduling schemes

such as traffic lights

are difficult to guide CAVs to pass through intersections efficiently. In order to improve vehicle traffic efficiency

a scheduling scheme based on sequential selection is designed for intersections without traffic lights. A feasible time for a vehicle to arrive at the intersection is planned according to its physical abilities and status of other CAVs. Extensive simulation experiments are conducted on the SUMO platform to verify the effectiveness of the proposed scheme. From the experimental results

it is revealed that the proposed scheme improves the traffic efficiency at intersections

comparing with other methods. Especially

when the traffic load is heavy

the performance gain of the proposed scheme is more obvious.