Abstract: There is provided a digital intersection system. The system can include at least one safety-critical device corresponding to a device controlling allowable movements into or through the intersection. The system can also include a local control unit configured to generate and output an intersection state plan, and a safety control unit configured to accept the intersection state plan from the local control unit, validate the state plan, and provide the state plan to any interested device in the intersection, the any interested device comprising the at least one safety-critical device. The system can optionally include at least one sensor corresponding to a device or data source capable of collecting information related to the intersection or local area surrounding the intersection, or impacting traffic patterns at an intersection, wherein the local control unit is further configured to accept inputs from the at least one sensor.