# Real-time Cooperative Vehicle Coordination at Unsignalized Road Intersections

arXiv: https://arxiv.org/abs/2205.01278 · HTML: https://mlsanity.com/paper/2205.01278/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 45 references that are in the map.
- First posted on arXiv 3 May 2022.

## Builds on (most cited first, 11 of 11)

- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Deep Reinforcement Learning for Intelligent Transportation Systems: A Survey](https://mlsanity.com/paper/2005.00935/) (2020)
- [Autonomous Drone Racing with Deep Reinforcement Learning](https://mlsanity.com/paper/2103.08624/) (2021)
- [Deep Reinforcement Learning for Traffic Light Control in Vehicular Networks](https://mlsanity.com/paper/1803.11115/) (2018)
- [Adaptive Traffic Signal Control: Deep Reinforcement Learning Algorithm with Experience Replay and Target Network](https://mlsanity.com/paper/1705.02755/) (2017)
- [Cooperative Driving at Unsignalized Intersections Using Tree Search](https://mlsanity.com/paper/1902.01024/) (2019)
- [Optimal Covariance Control for Stochastic Systems Under Chance Constraints](https://mlsanity.com/paper/1804.02829/) (2018)
- [Formation and Reconfiguration of Tight Multi-Lane Platoons](https://mlsanity.com/paper/2003.08595/) (2020)
- [Comparison of Cooperative Driving Strategies for CAVs at Signal-Free Intersections](https://mlsanity.com/paper/2010.03148/) (2020)
- [Driving Conflict Resolution of Autonomous Vehicles at Unsignalized Intersections: A Differential Game Approach](https://mlsanity.com/paper/2201.01424/) (2022)

## Built on by (most cited first, 2 of 2)

- [SCORP: Scene-Consistent Multi-agent Diffusion Planning with Stable Online Reinforcement Post-Training for Cooperative Driving](https://mlsanity.com/paper/2604.11734/) (2026)
- [Applying Neural Monte Carlo Tree Search to Unsignalized Multi-intersection Scheduling for Autonomous Vehicles](https://mlsanity.com/paper/2410.18786/) (2024)

## Abstract (arXiv)

Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing investigations either suffer from computational complexity or cannot harness the full potential of the road infrastructure. To this end, we first present a dedicated intersection coordination framework, where the involved vehicles hand over their control authorities and follow instructions from a centralized coordinator. Then a unified cooperative trajectory optimization problem will be formulated to maximize the traffic throughput while ensuring the driving safety and long-term stability of the coordination system. To address the key computational challenges in the real-world deployment, we reformulate this non-convex sequential decision problem into a model-free Markov Decision Process (MDP) and tackle it by devising a Twin Delayed Deep Deterministic Policy Gradient (TD3)-based strategy in the deep reinforcement learning (DRL) framework. Simulation and practical experiments show that the proposed strategy could achieve near-optimal performance in sub-static coordination scenarios and significantly improve the traffic throughput in the realistic continuous traffic flow. The most remarkable advantage is that our strategy could reduce the time complexity of computation to milliseconds, and is shown scalable when the road lanes increase.