At the Institute of Mechatronic Systems in Mechanical Engineering, research is being conducted on autonomous, connected robotic vehicles. These vehicles are expected to ensure not only safe but also efficient movement. Current driver assistance systems, such as Adaptive Cruise Control (ACC), are already widely used in modern vehicles and serve as a fundamental basis for future automated driving functions. As part of this thesis, such a system is to be designed for complex urban intersection scenarios, focusing on both safety and efficiency, and implemented into the existing code structure. The approach will then be tested using the traffic simulation platform SUMO.