In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and coordinator failure. We propose a closed-loop opinion-dynamic decision model for intersection coordination, where vehicles exchange intent through dual signed networks: a conflict topology based communication network and a commitment-driven belief network that enable cooperation without a centralized coordinator. Continuous opinion states modulate velocity optimizer weights prior to commitment; a closed-form predictive feasibility gate then freezes each vehicle's decision into a GO or YIELD commitment, which propagates back through the belief network to pre-condition neighbor behavior ahead of physical conflicts. Crossing order emerges from geometric feasibility and arrival priority without the use of joint optimization or a solver. The approach is validated across three scenarios spanning fully competitive, merge, and mixed conflict topologies. The results demonstrate collision-free coordination and lower last-vehicle exit times compared to first come first served (FCFS) in all conflict non-trivial configurations.

翻译：本文针对无信号路口联网自动驾驶车辆的去中心化决策问题展开研究，现有集中式方案在混合机动意图及协调器失效场景下可扩展性不足。我们提出一种面向路口协调的闭环意见动态决策模型：车辆通过双重符号网络交换意图——基于冲突拓扑的通信网络与承诺驱动的信念网络，可在无集中式协调器条件下实现协作。连续意见状态在承诺形成前调节速度优化器权重，随后通过封闭式预测可行性门控机制将各车辆决策冻结为“通行”或“让行”承诺，该承诺通过信念网络反向传播，在物理冲突发生前预调整邻车行为。交叉通行顺序由几何可行性与到达优先级决定，无需联合优化或求解器。该方法在完全竞争、合流及混合冲突拓扑三类场景中得到验证。结果表明，在所有非平凡冲突构型中，该方法相比先到先服务策略均能实现无碰撞协调并降低末车驶离时间。