Driving automation systems have received significant attention over the past few years due to their potential to revolutionize road transport. Modern intelligent vehicles integrate a variety of sensors that enable accurate localization and environment perception, supporting autonomous tasks such as lane keeping and collision avoidance. Moreover, vehicles can share information and cooperate to achieve common objectives. This paper investigates the use of such collective intelligence at an unsignalized intersection, assuming predetermined routes for all vehicles. An LQR controller is designed to ensure trajectory tracking for each vehicle. The multi-agent simulation setup is built in Simulink. Simulation results demonstrate the benefits of cooperative driving and validate the proposed approach.