Fair and Safe: A Real-Time Hierarchical Control Framework for Intersections
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914143655690240 |
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| author | Shi, Lei Kim, Yongju Zhong, Xinzhi Kontar, Wissam Liu, Qichao Ahn, Soyoung |
| author_facet | Shi, Lei Kim, Yongju Zhong, Xinzhi Kontar, Wissam Liu, Qichao Ahn, Soyoung |
| contents | Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time traffic control. This paper proposes a fairness-aware hierarchical control framework that explicitly integrates inequity aversion into intersection management. At the top layer, a centralized allocation module assigns control authority (i.e., selects a single vehicle to execute its trajectory) by maximizing a utility that accounts for waiting time, urgency, control history, and velocity deviation. At the bottom layer, the authorized vehicle executes a precomputed trajectory using a Linear Quadratic Regulator (LQR) and applies a high-order Control Barrier Function (HOCBF)-based safety filter for real-time collision avoidance. Simulation results across varying traffic demands and demand distributions demonstrate that the proposed framework achieves near-perfect fairness, eliminates collisions, reduces average delay, and maintains real-time feasibility. These results highlight that fairness can be systematically incorporated without sacrificing safety or performance, enabling scalable and equitable coordination for future autonomous traffic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_05886 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Fair and Safe: A Real-Time Hierarchical Control Framework for Intersections Shi, Lei Kim, Yongju Zhong, Xinzhi Kontar, Wissam Liu, Qichao Ahn, Soyoung Robotics Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time traffic control. This paper proposes a fairness-aware hierarchical control framework that explicitly integrates inequity aversion into intersection management. At the top layer, a centralized allocation module assigns control authority (i.e., selects a single vehicle to execute its trajectory) by maximizing a utility that accounts for waiting time, urgency, control history, and velocity deviation. At the bottom layer, the authorized vehicle executes a precomputed trajectory using a Linear Quadratic Regulator (LQR) and applies a high-order Control Barrier Function (HOCBF)-based safety filter for real-time collision avoidance. Simulation results across varying traffic demands and demand distributions demonstrate that the proposed framework achieves near-perfect fairness, eliminates collisions, reduces average delay, and maintains real-time feasibility. These results highlight that fairness can be systematically incorporated without sacrificing safety or performance, enabling scalable and equitable coordination for future autonomous traffic systems. |
| title | Fair and Safe: A Real-Time Hierarchical Control Framework for Intersections |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.05886 |