A survey on safe and efficient control for autonomous vehicles at unsignalized intersections

Unsignalized intersections, lacking the regulatory constraints of traffic signals, present a more complex traffic environment, posing challenges for the safe passage of autonomous vehicles. The absence of traffic lights and the associated delays and green-light idling losses offer new research directions for improving vehicle throughput efficiency at intersections. This paper introduces and evaluates various aspects of unsignalized intersections, including control and prediction methods for vehicle behavior. It provides a detailed review of the technologies used in control decision-making methods for autonomous vehicles at unsignalized intersections, categorized according to safety and efficiency objectives. Finally, the paper discusses the experimental simulation platforms and testing methods currently used in research, comparing and analyzing their effectiveness and applicability in simulating unsignalized intersection scenarios. The aim of this study is to review and provide a comprehensive overview of control decision-making technologies for the safe and efficient passage of autonomous vehicles at unsignalized intersections, offering information and references for research and development in this field.