| Trajectory Planning and Tracking Control Based on Conflict Resolution at Unprotected Intersections |
| Di Wu, Jing Song, Jin Chen, Weihan Li, Shibin Zhang, Xianxu Bai |
| School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, 230009, China |
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Received: October 28, 2024; Revised: June 13, 2025 Accepted: July 7, 2025. Published online: November 21, 2025. |
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| ABSTRACT |
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Unprotected intersections are accident-prone sections, and decision-making in such scenarios is one of the recognized difficulties in the field of automated driving. This paper focuses on the traffic problem of automated vehicles at unprotected intersections, aiming to ensure safe driving and improve the existing overly conservative traffic strategies. A new model is established for the conflict zone between two vehicles in the case of path intersections, which fully considers the host vehicle path tracking error and the prediction error of other vehicles. To achieve conflict resolution in time dimension, a control strategy with dynamic obstacle avoidance by velocity planning is formulated. The Bezier curve is used for path planning, and the speed planning is to find a simple connected passable region on the ST graph. The search process of the passable region reflects the pursuit of the traffic speed, and the conservatism of the strategy is eliminated. The lateral and longitudinal decoupling control is used to make the vehicle travel along the planned trajectory. Finally, unprotected intersection scenarios are constructed by Prescan/Simulink/Carsim for joint simulation, and the results show that the conflict resolution-based vehicle control strategy can enable vehicles to operate effectively in a variety of unprotected intersection scenarios. |
| Key Words:
Unprotected intersections · Conflict resolution · Trajectory planning · Tracking control |
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Corresponding Author.
Jin Chen , Email. 
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