Autonomous driving will cause disruptive changes of our mobility and transportation systems. Driverless cars are already able to drive autonomously on highways in some specified traffic situations. Urban traffic however is still a non-mastered challenge for autonomous driving, due to its unstructured nature of potential unforeseeable dangerous situations. In the project Digitaler Knoten 4.0 OFFIS together with a consortium of industry and research lead by DLR Braunschweig is doing research on how to cross urban intersections with highly automated cars. Solutions will be developed to allow a safe, secure and efficient crossing of intersections equipped with sensors and communication infrastructure. The results of the project will be presented at an intersection of the Anwendungsplattform Intelligente Mobilität (AIM) in Braunschweig.