Robust Real-Time Coordination of CAVs: A Distributed Optimization Framework under Uncertainty

Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. This paper presents a novel coordination framework that resolves this challenge through three key innovations: 1) direct control of vehicles' trajectory distributions during coordination, formulated as a robust cooperative planning problem with adaptive enhanced safety constraints, ensuring a specified level of safety regarding the uncertainty of the interactive trajectory, 2) a fully parallel ADMM-based distributed trajectory negotiation (ADMM-DTN) algorithm that efficiently solves the optimization problem while allowing configurable negotiation rounds to balance solution quality and computational resources, and 3) an interactive attention mechanism that selectively focuses on critical interactive participants to further enhance computational efficiency. Both simulation results and practical experiments demonstrate that our framework achieves significant advantages in safety (reducing collision rates by up to 40.79\% in various scenarios) and real-time performance compared to state-of-the-art methods, while maintaining strong scalability with increasing vehicle numbers. The proposed interactive attention mechanism further reduces the computational demand by 14.1\%. The framework's effectiveness is further validated through real-world experiments with unexpected dynamic obstacles, demonstrating robust coordination in complex environments. The experiment demo could be found at https://youtu.be/4PZwBnCsb6Q.