SafeEdge: Intention-Aware Cooperative Motion Planning for Autonomous Vehicles Over Mobile Edge Networks

Autonomous vehicles often struggle in dense urban intersections because of occlusions and reactive single-vehicle planners. SafeEdge tackles this challenge by partitioning cooperative motion planning across a three-tier mobile-edge hierarchy. A graph-transformer intention generator running on roadside and metro-edge nodes fuses V2X trajectory snippets from up to 120 agents into kilobyte-size probability maps of future maneuvers. Each vehicle keeps feasibility checks on board, while large-scale collision resolution is off-loaded to a metro-edge mixed-integer solver. A Coq-verified safety shield triggers emergency braking whenever network latency exceeds a derived bound. Deployed on 10 Jetson Orin NX cars and 4 Xeon Silver edge servers over a standalone 5 G link, SafeEdge clears four-way intersections with a 96% success rate and a 95th-percentile decision latency of 32 ms—well below the 50 ms safety envelope. Relative to an on-board MPC baseline, emergency-brake events drop by 70% and energy per kilometer falls by 11%. These results demonstrate that intention-aware, edge-partitioned planning can simultaneously satisfy real-time and safety requirements in dense urban driving.