Communication-free Distributed Control Algorithm for autonomous vehicles at intersections

Abstract

This paper introduces a novel approach for managing autonomous vehicles at signal-free intersections through a Communication-free Distributed Control Algorithm (CfDCA). Unlike centralized systems or communication-based decentralized methods, CfDCA relies solely on onboard sensors and in-vehicle decision-making to ensure efficient and collision-free navigation. The algorithm formulates intersection management as a distributed optimization problem with demonstrated safety logics and robustness to measurement errors. The algorithm combines a dynamic resource acquisition graph with a refined priority function and an adaptive tolerance mechanism to ensure efficient performance under varying traffic conditions. A stochastic tie-breaking mechanism is proposed to handle rare cases of identical priorities, while deadlock prevention is guaranteed through strict priority ordering. Simulation experiments demonstrate that CfDCA reduces average delay and queue length and is able to achieve throughput higher than actuated signalized intersections and outperforms a first-come-first-served baseline in delay reduction. Additionally, the algorithm’s distributed design offers scalability and eliminates dependency on communication infrastructure.