Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields
Systems and Control
2026-07-15 v1 Robotics
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.
Cite
@article{arxiv.2607.13626,
title = {Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields},
author = {David Costa and Francesco Cerrito and Massimo Canale and Carlo Novara},
journal= {arXiv preprint arXiv:2607.13626},
year = {2026}
}