Contextual-Graph Topology for Efficient and Real-Time Cooperative Intersection Management

With the advancement of Connected and Automated Vehicles (CAVs), traffic management has seen steady improvement. This paper proposes a cooperative decision-making approach to managing CAV traffic in complex, dynamic, and unsignalized intersections. To reduce the computational burden of intersection control, a conflicting-paths checking method and a PIDP-based contextual risk management graph approach are introduced, thereby enhancing feasibility for real-world traffic applications. Extensive and reliable statistical simulations demonstrate the effectiveness of the proposed approach.