Title: Multi-vehicle trajectory planning at unsignalised intersections based on cooperative vehicle-infrastructure system

Authors: Yangjie Ji; Ziru Yang; Yanjun Huang; Zhuoping Yu

Addresses: School of Automotive Studies, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China

Abstract: Collaboration between infrastructures and connected and autonomous vehicles (CAVs) at unsignalised intersections has emerged as an effective strategy for improving transportation efficiency. To enhance the safety and efficiency of CAVs passing through unsignalised intersections, this paper proposes a cooperative vehicle-infrastructure system (CVIS) based multi-vehicle trajectory planning architecture. The architecture comprises a roadside planner and vehicle planners. The roadside planner formulates the problem of generating multi-vehicle trajectories as an optimisation task and addresses it using an improved particle swarm optimisation (PSO) approach along with a space-time voxels strategy to determine the times for vehicles to reach the intersection and the trajectories passing through it. Then, the vehicle planner plans according to the results of the roadside planner. The results show that our approach enables potentially conflicting CAVs to pass through unsignalised intersections without stopping and waiting, ensuring safety while improving traffic efficiency.

Keywords: CVIS; cooperative vehicle-infrastructure system; CAVs; connected and autonomous vehicles; multi-vehicle trajectory planning.

DOI: 10.1504/IJVD.2025.149113

International Journal of Vehicle Design, 2025 Vol.98 No.1/2/3/4, pp.25 - 54

Received: 02 Apr 2024
Accepted: 05 Feb 2025
Published online: 14 Oct 2025 *

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