Safe Cooperative Decision-Making in Uncertain Unsignalized Intersection Based on Probabilistic and Predictive Risk Assessment Strategy

Connected Autonomous Vehicles (CAVs) achieve efficient information sharing through V2V and V2I communication, enabling effective collaborative driving at unsignalized intersections and beyond. However, when unexpected issues such as communication blockages or failures occur, significant challenges occur to allow reliable and efficient cooperative decision-making. This paper introduces the Predicted Inter-Distance Profile based on Probabilistic Uncertainty Interval (PIDP-PUI) method and a cooperative optimized decision process under uncertain situations. Simulation results demonstrate that the proposed methods enable collision-free decision-making and efficient planning at unsignalized intersections, even under communication loss.