Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields
arXiv:2607.13626v1 Announce Type: cross Abstract: This paper presents a novel framework for integrated Decision-Making (DM) and Trajectory Planning (TP) for automated vehicles at unsignalized intersections. The approach leverages a Finite Horizon Optimal Control Problem (FHOCP) that employs Time-Varying Artificial Potential Fields (TV-APF). By utilizing short-horizon motion prediction and a dedicated conflict-zone occupancy coefficient, the framework suitably accounts for potential collisions w
Overview
arXiv:2607.13626v1 Announce Type: cross Abstract: This paper presents a novel framework for integrated Decision-Making (DM) and Trajectory Planning (TP) for automated vehicles at unsignalized intersections. The approach leverages a Finite Horizon Optimal Control Problem (FHOCP) that employs Time-Varying Artificial Potential Fields (TV-APF). By utilizing short-horizon motion prediction and a dedicated conflict-zone occupancy coefficient, the framework suitably accounts for potential collisions within the FHOCP. The proposed method effectively unifies DM and TP, ensuring the generation of a feasible and safe reference trajectory. Simulation results in multi-vehicle traffic scenarios demonstrate the effectiveness of the approach.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2607.13626