Communication-free Distributed Control Algorithm for autonomous vehicles at intersections

This paper introduces a novel approach for managing autonomous vehicles at signal-free intersections through a Communication-free Distributed Control Algorithm (CfDCA). Unlike centralized systems or communication-based decentralized methods, CfDCA relies solely on onboard sensors and in-vehicle deci...

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Bibliographic Details
Published in:Transportation research. Part C, Emerging technologies Vol. 180; p. 105309
Main Authors: Soltani, Alireza, Levinson, David M., Ramezani, Mohsen
Format: Journal Article
Language:English
Published: Elsevier Ltd 01.11.2025
Subjects:
Automated vehicles
Deadlock prevention
Decentralized agent
Distributed systems
Signal-free intersection
Signal-free intersection
Decentralized agent
Automated vehicles
Distributed systems
Deadlock prevention
ISSN:0968-090X
Online Access:Get full text
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Summary:This paper introduces a novel approach for managing autonomous vehicles at signal-free intersections through a Communication-free Distributed Control Algorithm (CfDCA). Unlike centralized systems or communication-based decentralized methods, CfDCA relies solely on onboard sensors and in-vehicle decision-making to ensure efficient and collision-free navigation. The algorithm formulates intersection management as a distributed optimization problem with demonstrated safety logics and robustness to measurement errors. The algorithm combines a dynamic resource acquisition graph with a refined priority function and an adaptive tolerance mechanism to ensure efficient performance under varying traffic conditions. A stochastic tie-breaking mechanism is proposed to handle rare cases of identical priorities, while deadlock prevention is guaranteed through strict priority ordering. Simulation experiments demonstrate that CfDCA reduces average delay and queue length and is able to achieve throughput higher than actuated signalized intersections and outperforms a first-come-first-served baseline in delay reduction. Additionally, the algorithm’s distributed design offers scalability and eliminates dependency on communication infrastructure. •A communication-free and distributed control algorithm for autonomous vehicles at signal-free intersections.•Algorithm formulates intersection management as a distributed optimization problem.•Algorithm combines a dynamic resource acquisition graph with a refined priority function and an adaptive tolerance mechanism.•Deadlock prevention is guaranteed.•Results show reductions in average delay and queue length, and collision-free maneuvers under varying traffic conditions.
ISSN:0968-090X
DOI:10.1016/j.trc.2025.105309