Decentralized Opinion-Integrated Decision making at Unsignalized Intersections via Signed Networks

2026-04-10

AI Summary

This study addresses the challenge of scalable decentralized decision-making for connected autonomous vehicles at unsignalized intersections under mixed intentions and coordinator failure. The authors propose a closed-loop opinion dynamics model grounded in signed networks, which enables cooperative behavior without centralized coordination by exchanging intentions through conflict-aware topological communication and commitment-driven belief propagation. Continuous opinion states dynamically modulate the weights of velocity optimizers, while a predictive feasibility threshold generates GO/YIELD commitments that guide neighboring vehicles’ actions and naturally induce a collision-free crossing order. By introducing signed networks to intersection coordination for the first time, the approach achieves efficient decentralized sequencing without joint optimization or external solvers, ensuring safety across competitive, merging, and mixed scenarios while outperforming first-come-first-served strategies in terms of last-vehicle exit time.

Technology Category

• Planning, Routing, and Scheduling: Model-Based Reasoning
• Reasoning under Uncertainty: Sequential Decision Making
• Multiagent Systems: Coordination and Collaboration

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Social Networks and Social Media: Media and governance, opinion dynamics, filter bubbles, polarization
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and coordinator failure. We propose a closed-loop opinion-dynamic decision model for intersection coordination, where vehicles exchange intent through dual signed networks: a conflict topology based communication network and a commitment-driven belief network that 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 pre-condition neighbor behavior ahead of physical conflicts. Crossing order emerges from geometric feasibility and arrival priority without the use of joint optimization or a solver. The approach is validated across three scenarios spanning fully competitive, merge, and mixed conflict topologies. The results demonstrate collision-free coordination and lower last-vehicle exit times compared to first come first served (FCFS) in all conflict non-trivial configurations.

Problem

• decentralized decision making
• unsignalized intersections
• connected autonomous vehicles
• mixed maneuver intentions
• coordinator failure

Innovation

• signed networks
• decentralized decision making
• opinion dynamics
• autonomous vehicles
• unsignalized intersections