In embodiments, an apparatus for intersection management of autonomous or semi-autonomous vehicles may include an input interface to receive an intersection crossing request from one or more autonomous or semi-autonomous vehicles, the request including vehicle data; an output interface coupled to a transmitter, and an analyzer coupled to the input interface and to the output interface to process the request, based, at least in part, on the vehicle data, to generate a command including a crossing velocity and a time to assume the crossing velocity, and cause the transmitter, via the output interface, to transmit the command to the requesting vehicle. Other and related embodiments are also described.