Decentralized Opinion-Integrated Decision making at Unsignalized Intersections via Signed Networks

TL;DR

This paper introduces a decentralized decision-making model for autonomous vehicles at unsignalized intersections, using signed networks to enable cooperation without central coordination, ensuring collision-free crossing and improved efficiency.

Contribution

It presents a novel closed-loop opinion-dynamic model utilizing dual signed networks for decentralized intersection management among autonomous vehicles.

Findings

Collision-free coordination achieved in all tested scenarios.

Lower exit times compared to FCFS in non-trivial conflicts.

Effective decentralized decision-making without a central coordinator.

Abstract

In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and coordinator failure. We propose a closed-loop opinion-dynamic decision model for intersection coordination, where vehicles exchange intent through dual signed networks: a conflict topology based communication network and a commitment-driven belief network that enable cooperation without a centralized coordinator. Continuous opinion states modulate velocity optimizer weights prior to commitment; a closed-form predictive feasibility gate then freezes each vehicle's decision into a GO or YIELD commitment, which propagates back through the belief network to pre-condition neighbor behavior ahead of physical conflicts. Crossing order emerges from geometric feasibility and arrival priority without the use of joint optimization or a solver. The approach is validated across three scenarios spanning fully competitive, merge, and mixed conflict topologies. The results demonstrate collision-free coordination and lower last-vehicle exit times compared to first come first served (FCFS) in all conflict non-trivial configurations.