Hao, Yingchen (Monash University), Chung, Hoam (Monash University), Vu, Hai L. (Monash University)

Safety at Autonomous Intersections under Connection Loss: Connected and Onboard Local Planning

Scheduled for presentation during the Invited Session "S24c-Traffic Control and Connected Autonomous Vehicles: benefits for efficiency, safety and beyond" (TH-LA-T24), Thursday, November 20, 2025, 16:20−16:40, Coolangata 3

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

With the emergence of connected autonomous vehicle (CAV) technologies, autonomous intersection management (AIM) has become a preferred approach to manage traffic flows at intersections. In our earlier work, we identified potential execution discrepancies between CAV local planners and global AIM systems. We have also developed a Vehicle-to-Vehicle (V2V) based local planner to enhance safety under perturbation conditions. Building on these findings, this study further assesses safety in scenarios with connection losses by employing onboard motion predictors (OMPs) to compensate for information gaps caused by intermittent connectivity. Results show that our scheme maintains safety under modest connection loss using simple extrapolation prediction replacement while incorporating advanced OMP helps near-miss scenarios under severe connection loss.