Optimal Cooperative Driving at Signal-Free Intersections With Polynomial-Time Complexity

Cooperative driving at signal-free intersections, which aims to improve safety and efficiency for connected automated vehicles, has attracted increasing interest in recent years. However, existing cooperative strategies either suffer from computational complexity or cannot guarantee global optimality. To fill this research gap, paper proposes an optimal computationally efficient strategy with the polynomial-time complexity. By modeling conflict relations among solution space of problem is completely represented by a newly designed small-size state space. Then, based on dynamic programming, globally can be searched inside efficiently. It proved that proposed reduce time computation exponential small-degree polynomial. Simulation results further demonstrate obtain within limited under various traffic demand settings.