{"ID":2844571,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.05886","arxiv_id":"2511.05886","title":"Fair and Safe: A Real-Time Hierarchical Control Framework for Intersections","abstract":"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.","short_abstract":"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 framewor...","url_abs":"https://arxiv.org/abs/2511.05886","url_pdf":"https://arxiv.org/pdf/2511.05886v1","authors":"[\"Lei Shi\",\"Yongju Kim\",\"Xinzhi Zhong\",\"Wissam Kontar\",\"Qichao Liu\",\"Soyoung Ahn\"]","published":"2025-11-08T06:57:07Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}