Space-time graph path planner for unsignalized intersection management with a V2V agent coordination architecture

Reducing traffic congestion and increasing passenger safety are important objectives for emerging automated transportation systems. Autonomous intersection management systems (AIMS) enable large scale optimization of vehicle trajectories with connected and autonomous vehicles (CAVs). We propose a novel approach for computing the fastest waypoint trajectory in intersections using graph search in a discretized space-time graph that produces collision-free paths with variable vehicle speeds that comply with traffic rules and vehicle dynamical constraints. To assist our planner algorithm in decentralized scenarios, we also propose a multi-agent protocol architecture for vehicle coordination for trajectory planning using a vehicle-to-vehicle (V2V) network. The trajectories generated allow a much higher evacuation rate and congestion threshold, with lower $O\left(N\right)$ algorithm runtime compared to the state of the art conflict detection graph platoon path planning method, even for large scenarios with vehicle arrival rate of $1/s$ and thousands of vehicles.