Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields

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.

arXiv commentPublished in the "2026 34th Mediterranean Conference on Control and Automation (MED)". v2 adds the final IEEE citation and DOI; technical content unchanged