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A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles

  • V2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them andV2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them and derive future research topics.show moreshow less

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Metadaten
Author:Daniel MaksimovskiORCiD, Andreas FestagORCiD, Christian FacchiORCiD
Language:English
Document Type:Conference Paper
Conference:7th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2021), online, 28.-30.04.2021
Year of first Publication:2021
published in (English):Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems
Publisher:SciTePress
Place of publication:Setúbal
ISBN:978-989-758-513-5
ISSN:2184-495X
First Page:100
Last Page:111
Review:peer-review
Open Access:ja
Tag:Automated Vehicle; Cooperative Driving; Maneuver Coordination; V2X Communications
Related Identifier:https://doi.org/10.5220/0010442501000111
Faculties / Institutes / Organizations:Fakultät Informatik
Fakultät Elektro- und Informationstechnik
CARISSMA Institute of Electric, Connected and Secure Mobility (C-ECOS)
Fraunhofer-Anwendungszentrum "Vernetzte Mobilität und Infrastruktur"
Licence (German):License Logo Creative Commons BY-NC-ND 4.0
Release Date:2022/02/25