Decentralized Opinion Integrated Decision making at Unsignalized Intersections via Signed Networks

Artikel i vetenskaplig tidskrift, 2026

In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles (CAVs) at unsignalized intersections. We propose a safe closed-loop opinion-driven decision making model for intersection coordination, where vehicles exchange intent through dual signed networks: a conflict topology based communication network and a commitment-driven belief network, enable cooperation without a centralized coordinator. Continuous opinion states modulate velocity optimizer weights prior to commitment; a closed-form predictive feasibility gate then freezes each vehicle’s decision into a GO or YIELD commitment, which propagates back through the belief network to precondition neighbor behavior ahead of physical conflicts. On average, our policy outperforms both the First-Come-First-Served Policy and a conflict-aware predictive safety gate, with the largest gains observed when feasible gaps arise from heterogeneous conflict sets.