AROW: V2X-based Automated Right-of-Way Algorithm for Cooperative Intersection Management

TL;DR

This work tackles priority ambiguity at Stop-Controlled Intersections by introducing AROW, a distributed CIM algorithm that assigns explicit SC-I crossing turns using V2X DIMs within a Driver Messenger System. It models AROW as a Timed Automaton with staged arbitration (S0–SW) and analyzes robustness to non-compliance, validating completeness and scalability through SUMO simulations across varying densities and non-compliance probabilities. The theoretical and experimental results show AROW reliably reduces crossing ambiguity, maintains fairness in vehicle clearance times, and outperforms centralized and other V2X-based schemes (DCIM, allway) under mixed autonomy. The approach offers a scalable, RSU-free solution for mixed traffic scenarios with practical implications for real-world deployment and future enhancements such as emergency-vehicle handling and adaptive timing.

Abstract

Research in Cooperative Intersection Management (CIM), utilizing Vehicle-to-Everything (V2X) communication among Connected and/or Autonomous Vehicles (CAVs), is crucial for enhancing intersection safety and driving experience. CAVs can transceive basic and/or advanced safety information, thereby improving situational awareness at intersections. The focus of this study is on unsignalized intersections, particularly Stop Controlled-Intersections (SC-Is), where one of the main reasons involving crashes is the ambiguity among CAVs in SC-I crossing priority upon arriving at similar time intervals. Numerous studies have been performed on CIM for unsignalized intersections based on centralized and distributed systems in the presence and absence of Road-Side Unit (RSU), respectively. However, most of these studies are focused towards replacing SC-I where the scheduler provides spatio-temporal or sequence-based reservation to CAVs, or where it controls CAVs via kinematic commands. These methods cause CAVs to arrive at the intersection at non-conflicting times and cross without stopping. This logic is severely limited in real-world mixed traffic comprising human drivers where kinematic commands and other reservations cannot be implemented as intended. Thus, given the existence of SC-Is and mixed traffic, it is significant to develop CIM systems incorporating SC-I rules while assigning crossing priorities and resolving the related ambiguity. In this regard, we propose a distributed Automated Right-of-Way (AROW) algorithm for CIM to assign explicit SC-I crossing turns to CAVs and mitigate hazardous scenarios due to ambiguity towards crossing priority. The algorithm is validated with extensive experiments for its functionality, scalability, and robustness towards CAV non-compliance, and it outperforms the current solutions.

Figures (10)

• Figure 1: Bird-eye view of a Stop Controlled-Intersection (SC-I) during application detection phase.
• Figure 2: Example scenario during HV's $v_{arb}$ announcement in stage $S2_2$. HV had previously broadcasted its AROW2 DIM and the other competing CAVs in $V_P$ are now sending their ACK2 signals.
• Figure 3: Non-compliance scenario in AROW with HV as $v_{arb}$. One of the CAVs in $V_P$ has become non-compliant and prematurely exited the SC-I upon which the DMS within it has broadcasted the AROW5 DIM.
• Figure 4: Example scenario during HV's $v_{arb}$ turn assignment in stage $S3_1$. HV had previously broadcasted its AROW3 DIM and the other competing CAVs in $V_P$ are now sending their ACK3 signals.
• Figure 5: Example scenario during HV's $v_{arb}$ exiting SC-I on its turn and broadcasting AROW41 DIM in stage $S4_1$ and assigning new $v_{arb}$ for next AROW round.