This paper presents a control framework for intelligent connected vehicles (ICVs) passing through unsignalized multi-arm intersections. A conflict detection model is established by mapping entrance–exit lane pairs onto intervals on a numerical axis, where interval overlap indicates the existence of potential collision points. Based on this representation, the minimum safe time interval between vehicles is derived. Building on these results, a longitudinal acceleration optimization algorithm is developed to satisfy safety constraints while coordinating vehicle passing times. Simulation studies conducted in a five-arm intersection scenario with different numbers of vehicles demonstrate that the proposed method can effectively ensure collision-free passing while maintaining a high level of operational efficiency. The results indicate that the proposed framework provides a scalable and efficiency-oriented coordination approach for intelligent vehicles at complex urban intersections.
Zhang et al. (Mon,) studied this question.