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arXiv · 2607.13626

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

David Costa·Francesco Cerrito·Massimo Canale·Carlo Novara
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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.

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David Costa, Francesco Cerrito, Massimo Canale, Carlo Novara. 2026-07-15. Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields. https://doi.org/10.1109/med70602.2026.11598041

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