A Piecewise Linearization Algorithm for Solving MINLP in Intersection Management Topics: Accident Prevention; Automated Road Transport; Automotive Control and Mechatronics; Autonomous Vehicles and Automated Driving; Cooperative Driving and Traffic Management; Intelligent Infrastructure and Guidance Systems; Urban Mobility and Multimodal Transportation; Vehicle Telematics; Vehicular Cloud Computing; Vehicular Networks In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems VEHITS - Volume 1, 438-445, 2021