Intersection Coordination with Priority-Based Search for Autonomous Vehicles

The development of connected and autonomous vehicles opens an opportunity to manage intersections without signals. One promising approach is use a central intersection manager optimize the movement in intersection. Existing work uses Mixed Integer Linear Programming (MILP) find optimal solutions for this problem but time-consuming cannot be applied real-time. On other hand, coordination essentially Multi-Agent Path Finding (MAPF) problem, which dozens efficient algorithms have been proposed recent years. Inspired by these MAPF algorithms, we propose three-level algorithm called PSL solve problem. Theoretically, complete polynomial-time number vehicles. Empirically, runs significantly faster with only slight compromise solution quality than MILP method. It also generates better slightly larger runtime traditional First-Come-First-Served strategy.