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The autonomous cooperative driving system described in this study uses vehicle-to-vehicle communication to assign priority to the car to cross an unsignalized intersection. The system was tested through a simulation using two mobile robots and a miniature intersection. Each mobile robot was equipped with a distance sensor and a speed sensor. The distance sensor was used to determine the distance between the mobile robot and the intersection and simulate the GPS device in a real vehicle. The output from the distance and speed sensors are exchanged via radio frequency communication and used as inputs for the decision-making section. The decision tree method in the decision-making section determines which mobile robot is given priority to cross the intersection based on distance, speed and traffic rules. Simulation results from four scenarios show that two vehicles can communicate and cooperate so that collisions at intersections can be avoided. [ABSTRACT FROM AUTHOR]